Intelligent control device for permanent magnet synchronous motor

Abstract

The application discloses a kind of permanent magnet synchronous motor intelligent control device, it is related to motor control technical field to solve the problem of lower filtering efficiency of existing permanent magnet synchronous motor control device.A kind of permanent magnet synchronous motor intelligent control device includes: permanent magnet synchronous motor and intelligent controller;Intelligent controller is installed in permanent magnet synchronous motor intelligent control device with permanent magnet synchronous motor;Intelligent controller is connected with permanent magnet synchronous motor communication;Intelligent controller is used to control permanent magnet synchronous motor;Intelligent controller is installed with adaptive current filter;Adaptive current filter uses improved LMS algorithm to filter the current of permanent magnet synchronous motor;Improved LMS algorithm adds correction parameter;Correction parameter is used to dynamically adjust the weight of weight update function in improved LMS algorithm.The application is used to improve the filtering efficiency of permanent magnet synchronous motor control device.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to an intelligent control device for a permanent magnet synchronous motor. Background Technology

[0002] With the development of the national economy and science and technology, electric motors are playing an increasingly important role in various industries. Permanent magnet synchronous motors offer many advantages in design, manufacturing, and control compared to other types of motors, and are widely used in various industrial production processes.

[0003] Permanent magnet synchronous motor control often adopts vector control methods, which requires the acquisition of stator current. To avoid interference, the current usually needs to be filtered. However, the existing filtering processes have a slow convergence speed, resulting in low filtering efficiency.

[0004] Therefore, it is of great significance to set up an intelligent control device for permanent magnet synchronous motors with high filtering efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent control device for permanent magnet synchronous motors, which solves the problem of low filtering efficiency in existing permanent magnet synchronous motor control devices.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A smart control device for a permanent magnet synchronous motor includes:

[0008] A permanent magnet synchronous motor and an intelligent controller; the intelligent controller and the permanent magnet synchronous motor are installed in the intelligent control device of the permanent magnet synchronous motor; the intelligent controller is communicatively connected to the permanent magnet synchronous motor; the intelligent controller is used to control the permanent magnet synchronous motor;

[0009] The intelligent controller is equipped with an adaptive current filter; the adaptive current filter uses an improved LMS algorithm to filter the current of the permanent magnet synchronous motor; the improved LMS algorithm incorporates a correction parameter; the correction parameter is used to dynamically adjust the weights of the weight update function in the improved LMS algorithm.

[0010] Compared with existing technologies, the present invention provides an intelligent control device for a permanent magnet synchronous motor (PMSM), comprising a PMSM and an intelligent controller; the intelligent controller and the PMSM are installed within the intelligent control device; the intelligent controller is communicatively connected to the PMSM; the intelligent controller is used to control the PMSM; an adaptive current filter is installed within the intelligent controller; the adaptive current filter uses an improved LMS algorithm to filter the current of the PMSM; the improved LMS algorithm incorporates a correction parameter; the correction parameter is used to dynamically adjust the weights of the weight update function in the improved LMS algorithm. Compared with the LMS algorithm in existing technologies, the present invention incorporates a correction parameter, which, by dynamically adjusting the weights of the weight update function in the improved LMS algorithm, accelerates the rate at which the weights stabilize, thus speeding up the convergence speed of the improved LMS algorithm and improving the filtering efficiency of the PMSM control device.

[0011] Optionally, the correction parameter is:

[0012]

[0013] c(n) represents the correction parameter, h(n) represents the weight, ρ and δ represent the correction parameters, and exp represents the exponential operation;

[0014] The relationship between the modified parameter and the weight is linear and positively correlated.

[0015] Optionally, the weight update function is:

[0016] h(n+1)=h(n)+2μx(n)e(n)-c(n)

[0017] h(n+1) represents the updated weights, x(n) represents the nth input signal of the adaptive current filter, e(n) represents the error value, and μ represents the step size factor;

[0018] The correction parameter is a subtraction expression of the weight update function.

[0019] Optionally, the improved LMS algorithm is as follows:

[0020]

[0021] y(n) represents the nth output signal of x(n) after being filtered by the adaptive current filter, e(n) represents the error value, and d(n) represents the desired output;

[0022] The adaptive current filter samples each new input to obtain x(n) and d(n) corresponding to x(n), and calculates y(n) and e(n) using the improved LMS algorithm. Based on the obtained y(n) and e(n), the weights are calculated using the weight update function to make the updated weights tend to be stable.

[0023] Optionally, the intelligent control device for the permanent magnet synchronous motor further includes: a controller chip and a motor vector closed-loop controller; the controller chip and the motor vector closed-loop controller are communicatively connected; the adaptive current filter is communicatively connected to the motor vector closed-loop controller; the controller chip is used to calculate the axial current of the permanent magnet synchronous motor; the adaptive current filter uses an improved LMS algorithm to filter the axial current.

[0024] Optionally, the adaptive current filter uses an improved LMS algorithm to filter the axial current, including:

[0025] The axial current includes d-axis current and q-axis current, and the processing of d-axis current and q-axis current is the same.

[0026] The adaptive current filter uses the improved LMS algorithm to perform the filtering process on the d-axis current as follows:

[0027]

[0028] i dx (n) represents the d-axis current output by the motor vector closed-loop controller for the nth time; i dd (n) represents the desired d-axis current value, obtained by adjusting i dx (n) Obtained by low-pass filtering; i dy (n) represents the d-axis current after processing by the adaptive current filter;

[0029] The adaptive current filter uses the improved LMS algorithm to filter the q-axis current as follows:

[0030]

[0031] i qx (n) represents the q-axis current output by the motor vector closed-loop controller for the nth time; i qd (n) represents the desired q-axis current value, obtained by adjusting i qx (n) Obtained by low-pass filtering; i qy (n) represents the q-axis current after processing by the adaptive current filter.

[0032] Optionally, the processed d-axis current and the processed q-axis current are input again into the vector closed-loop controller, and the controller chip calculates the d-axis voltage and q-axis voltage.

[0033] Based on the d-axis voltage and the q-axis voltage, the vector closed-loop controller performs space vector pulse width modulation to obtain the stator voltage of the permanent magnet synchronous motor.

[0034] Optionally, the intelligent control device for the permanent magnet synchronous motor further includes: a control circuit and a display; the input terminal of the control circuit is communicatively connected to the output terminal of the intelligent controller, and the control circuit is used to receive and transmit control commands from the intelligent controller; the output terminal of the control circuit is communicatively connected to the input terminal of the permanent magnet synchronous motor, and the control circuit is used to control the rotation of the permanent magnet synchronous motor; the display is installed inside the intelligent control device for the permanent magnet synchronous motor; the input terminal of the display is communicatively connected to the output terminal of the intelligent controller, the output terminal of the control circuit, and the output terminal of the sensor, respectively.

[0035] Optionally, the display includes a display screen and a display chip; the input terminal of the display chip is communicatively connected to the output terminal of the intelligent controller, the output terminal of the control circuit, and the output terminal of the sensor, respectively; the output terminal of the display chip is communicatively connected to the display screen.

[0036] Optionally, the intelligent control device for the permanent magnet synchronous motor further includes: a sensor; the sensor includes a current sensor and an angle sensor; the sensor is installed inside the intelligent control device for the permanent magnet synchronous motor; the input end of the sensor is communicatively connected to the permanent magnet synchronous motor, and the sensor is used to collect the current of the permanent magnet synchronous motor; the output end of the sensor is communicatively connected to the input end of the intelligent controller. Attached Figure Description

[0037] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0038] Figure 1 A schematic diagram of the structure of an intelligent control device for a permanent magnet synchronous motor provided by the present invention;

[0039] Figure 2 This is a schematic diagram of the structure of the intelligent controller provided by the present invention.

[0040] Figure reference numerals: 1-Intelligent controller, 11-Adaptive current filter, 12-Vector closed-loop controller, 2-Permanent magnet synchronous motor, 3-Control circuit, 4-Display, 5-Current sensor, 6-Angle sensor. Detailed Implementation

[0041] To facilitate a clear description of the technical solutions in the embodiments of the present invention, the terms "first" and "second" are used to distinguish identical or similar items with essentially the same function and effect. For example, the first threshold and the second threshold are merely used to distinguish different thresholds and do not limit their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that the terms "first" and "second" are not necessarily different.

[0042] It should be noted that in this invention, the terms "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in this invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0043] In this invention, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, a combination of a and b, a combination of a and c, a combination of b and c, or a, b, and c, where a, b, and c can be single or multiple.

[0044] Currently, most permanent magnet synchronous motors are controlled using vector control. For motor control systems, obtaining accurate current sampling values ​​is crucial. In vector control, the current sampling values ​​are typically sent to a microcontroller (MCU) for vector control calculations after passing through a current sensor (5), an operational amplifier, and an analog-to-digital (AD) converter. During the current loop sampling stage, current sensor 5 introduces interference noise, the conditioning circuit introduces random noise related to the operational amplifier and its resistive circuits, and factors such as the control circuitry during the sampling process also introduce noise, affecting current loop performance. Noise filtering is necessary to improve current loop stability. However, existing filtering methods have slow convergence speeds, resulting in low filtering efficiency.

[0045] In view of this, such as Figure 1 and Figure 2 As shown, the present invention provides an intelligent control device for a permanent magnet synchronous motor 2, comprising: a permanent magnet synchronous motor 2 and an intelligent controller 1; the intelligent controller 1 and the permanent magnet synchronous motor 2 are installed inside the intelligent control device; the intelligent controller 1 is communicatively connected to the permanent magnet synchronous motor 2; the intelligent controller 1 is used to control the permanent magnet synchronous motor 2;

[0046] The intelligent controller 1 is equipped with an adaptive current filter 11; the adaptive current filter 11 uses an improved LMS algorithm to filter the current of the permanent magnet synchronous motor 2; the improved LMS algorithm incorporates a correction parameter; the correction parameter is used to dynamically adjust the weights of the weight update function in the improved LMS algorithm.

[0047] The permanent magnet synchronous motor 2 is a synchronous motor that uses permanent magnets to establish an excitation magnetic field. Its stator generates a rotating magnetic field, and the rotor is made of permanent magnet material. The synchronous motor requires a DC magnetic field to achieve energy conversion, and the DC current that generates this magnetic field is called the motor's excitation current. The intelligent controller 1 is communicatively connected to the permanent magnet synchronous motor 2 and is used to control the rotation of the permanent magnet synchronous motor 2.

[0048] The LMS (Least Mean Square) algorithm does not require prior knowledge of the statistical characteristics of the input and desired signals. The weights at the current time step are obtained by adding a proportional term representing the negative mean square error gradient to the weights at the previous time step. The LMS algorithm is simple and easy to implement; however, its convergence speed is relatively slow. Therefore, its performance can be evaluated based on its convergence speed. When designing adaptive filters, it is essential to consider whether the adaptive filtering algorithm can achieve a fast convergence speed to improve the computational performance of the LMS algorithm.

[0049] As an optional implementation, the correction parameter is:

[0050]

[0051] In formula (1), c(n) represents the correction parameter, h(n) represents the weight, ρ and δ represent the correction parameters, and exp represents the exponential operation;

[0052] The relationship between the modified parameter and the weight is linear and positively correlated.

[0053] In this invention, the adaptive current filter 11 uses an improved LMS algorithm to filter the current of the permanent magnet synchronous motor 2. The improved LMS algorithm adds a correction parameter c(n), which can dynamically adjust the weight h(n) in the weight update function through the improved LMS algorithm.

[0054] The existing LMS algorithm is as follows:

[0055]

[0056] In formula (2), x(n) and y(n) represent the nth input signal and the filtered output signal of the adaptive model, respectively, d(n) represents the desired output, e(n) represents the error value, h(n) represents the weight, and μ is the step size factor.

[0057] Therefore, the weight update function of the existing LMS algorithm is:

[0058] h(n+1)=h(n)+2μx(n)e(n) (3)

[0059] In formula (3), h(n+1) represents the updated weights, h(n) represents the weights, x(n) represents the nth input signal of the adaptive current filter 11, e(n) represents the error value, and μ represents the step size factor.

[0060] The weight update function gradually changes with the increase of the number of iterations until the weight h(n) tends to stabilize, and the algorithm ends. In order to reduce the steady-state error, the step size factor μ in the LMS algorithm is usually set to be small, which greatly slows down the convergence speed of the LMS algorithm. Therefore, this invention proposes a correction parameter c(n), where the value of ρ is in the range of 0 to 1 and the value of δ is in the range of 0.001 to 2. When h(n) is large, according to formula (1), c(n) is large; when h(n) is small, according to formula (1), c(n) is small. The relationship between the correction parameter c(n) and the weight h(n) is linearly positively correlated, so that the improved LMS algorithm of this invention can dynamically adjust the size of h(n+1) according to the correction parameter c(n), thereby accelerating the convergence speed of the improved LMS algorithm. When the improved LMS algorithm is applied to the adaptive current filter 11, it accelerates the filtering speed of the current.

[0061] As an optional implementation, the weight update function is:

[0062] h(n+1)=h(n)+2μx(n)e(n)-c(n) (4)

[0063] In formula (4), h(n+1) represents the updated weight, x(n) represents the nth input signal of the adaptive current filter 11, e(n) represents the error value, and μ represents the step size factor;

[0064] The correction parameter is a subtraction expression of the weight update function.

[0065] In this invention, the modified parameter c(n) is used as the subtraction phase of the weight update function of the improved LMS algorithm, and the weight update function formula (4) proposed in this invention is obtained. As can be seen from formula (3), the modified parameter c(n) and the weight h(n) are linearly positively correlated. Therefore, combined with formula (4), the weight update function proposed in this invention can dynamically adjust the size of h(n+1) according to c(n) and h(n), so that the weight tends to stabilize faster, which speeds up the convergence speed of the improved LMS algorithm and thus speeds up the filtering speed of the current.

[0066] As an optional implementation, the improved LMS algorithm is as follows:

[0067]

[0068] In formula (5), y(n) represents the nth output signal of x(n) after being filtered by the adaptive current filter 11, e(n) represents the error value, and d(n) represents the desired output.

[0069] The adaptive current filter 11 samples each new input to obtain x(n) and d(n) corresponding to x(n), and calculates y(n) and e(n) using the improved LMS algorithm; based on the obtained y(n) and e(n), the weights are calculated using the weight update function to make the updated weights tend to be stable.

[0070] According to formula (5), the improved LMS algorithm of the present invention not only samples each new input through the adaptive current filter 11 to obtain x(n) and d(n) corresponding to x(n), and calculates y(n) and e(n), but also calculates the weight by adding a new weight update function (formula (4)) with correction parameter c(n), so that the updated weight value tends to stabilize at a faster rate.

[0071] As an optional implementation, the intelligent control device for the permanent magnet synchronous motor 2 further includes: a controller chip and a motor vector closed-loop controller 12; the controller chip and the motor vector closed-loop controller 12 are communicatively connected; the adaptive current filter 11 is communicatively connected to the motor vector closed-loop controller 12; the controller chip is used to calculate the axial current of the permanent magnet synchronous motor 2; the adaptive current filter 11 uses an improved LMS algorithm to filter the axial current.

[0072] Among them, such as Figure 2 As shown, this device also includes a controller chip and a motor vector closed-loop controller 12. The controller chip and the motor vector closed-loop controller 12 are communicatively connected. Simultaneously, the adaptive current filter 11 is also communicatively connected to the motor vector closed-loop controller 12. The controller chip is used to calculate the axial current of the permanent magnet synchronous motor 2, and the adaptive current filter 11 uses an improved LMS algorithm to filter the axial current. After acquiring the current of the permanent magnet synchronous motor 2, this device transmits the current to the motor vector closed-loop controller 12, and the controller chip, i.e., Figure 2 The MCU2 in the middle calculates the axial current of the d and q axes; then the d and q current is input to the adaptive current filter 11 for filtering. The adaptive current filter 11 filters the current of the d and q axes of the current loop. The filtered d and q current is input to the vector closed-loop controller 12 again. After the MCU2 calculates the space vector pulse width modulation duty cycle, it is input to the control circuit 3 module to finally control the motor rotation.

[0073] The function of the vector closed-loop controller 12 in this device is to: control i a i b and i c After vector-controlled current coordinate transformation, the current i along the dq axis of the current loop is obtained. d and i q ; filtered i d and i qAfter obtaining Vq and Vd through proportional-integral-derivative control (PID control), the Parker inverse transform is performed to project the three-phase voltages (a, b, and c) of the stator onto the direct axis (d-axis), quadrature axis (q-axis), and zero axis (0-axis) perpendicular to the dq plane, resulting in voltages Va, Vb, and Vc. Space vector pulse width modulation (SVPWM) is then applied to the voltage signals Va, Vb, and Vc. Using the ideal flux linkage circle of the stator of the three-phase symmetrical motor under three-phase symmetrical sinusoidal voltage supply as a reference standard, and by appropriately switching different switching modes of the three-phase inverter, pulse width modulation (PWM) waves with different duty cycles are calculated and generated. This changes the magnitude of the stator voltage of the three-phase motor, thereby controlling its operation.

[0074] As an optional implementation, the adaptive current filter 11 uses an improved LMS algorithm to filter the axial current, including:

[0075] The axial current includes d-axis current and q-axis current, and the processing of d-axis current and q-axis current is the same.

[0076] The adaptive current filter 11 uses the improved LMS algorithm to perform the filtering process on the d-axis current as follows:

[0077]

[0078] In formula (6), i dx (n) represents the d-axis current output by the motor vector closed-loop controller 12 for the nth time; i dd (n) represents the desired d-axis current value, obtained by adjusting i dx (n) Obtained by low-pass filtering; i dy (n) represents the d-axis current after processing by the adaptive current filter 11;

[0079] The adaptive current filter 11 uses the improved LMS algorithm to perform the filtering process on the q-axis current as follows:

[0080]

[0081] In formula (7), i qx (n) represents the q-axis current output by the motor vector closed-loop controller 12 for the nth time; i qd (n) represents the desired q-axis current value, obtained by adjusting i qx (n) Obtained by low-pass filtering; i qy(n) represents the q-axis current after processing by the adaptive current filter 11.

[0082] In the permanent magnet synchronous motor 2, the current can be decomposed into two components: q-axis current and d-axis current. The q-axis current is the current component perpendicular to the rotor magnetic field, and the d-axis current is the current component parallel to the rotor magnetic field. Decomposing the current into q-axis and d-axis components allows for better control of the motor's operating state; specifically, the q-axis current and d-axis current control the motor's magnetic field and torque: the q-axis current controls the motor's magnetic field, while the d-axis current controls the motor's torque. By controlling the magnitude and direction of the q-axis and d-axis currents, precise control of the motor's speed, torque, and efficiency can be achieved.

[0083] When the adaptive current filter 11 of the present invention performs the filtering process on the axial current using the improved LMS algorithm, the processing process of the d-axis current and the q-axis current is the same. Formulas (6) and (7) are used to add the subtraction phase c(n) to the improved LMS algorithm, so that the speed of current filtering of the permanent magnet synchronous motor 2 is increased.

[0084] As an optional implementation, the processed d-axis current and the processed q-axis current are input again into the vector closed-loop controller 12, and the controller chip calculates the d-axis voltage and q-axis voltage.

[0085] Based on the d-axis voltage and the q-axis voltage, the vector closed-loop controller 12 performs space vector pulse width modulation to obtain the stator voltage of the permanent magnet synchronous motor 2.

[0086] Among them, the vector closed-loop controller 12 will i a i b i c After vector-controlled current coordinate transformation, the current i along the dq axis of the current loop is obtained. d i q Calculated i d i q The input is filtered by the adaptive current filter 11, and the filtered i d i q The input will be fed back into the vector closed-loop controller 12, and the MCU2 will calculate the duty cycle of the space vector pulse width modulation (SVPWM) to obtain the stator voltage of the permanent magnet synchronous motor 2 and control the operation of the three-phase motor.

[0087] As an optional implementation, the intelligent control device for the permanent magnet synchronous motor 2 further includes: a control circuit 3 and a display 4; the input terminal of the control circuit 3 is communicatively connected to the output terminal of the intelligent controller 1, and the control circuit 3 is used to receive and transmit control commands from the intelligent controller 1; the output terminal of the control circuit 3 is communicatively connected to the input terminal of the permanent magnet synchronous motor 2, and the control circuit 3 is used to control the rotation of the permanent magnet synchronous motor 2; the display 4 is installed inside the intelligent control device for the permanent magnet synchronous motor 2; the input terminal of the display 4 is communicatively connected to the output terminal of the intelligent controller 1, the output terminal of the control circuit 3, and the output terminal of the sensor, respectively.

[0088] Among them, such as Figure 1 As shown, the intelligent control device for the permanent magnet synchronous motor 2 also includes a control circuit 3 and a display 4: the control circuit 3 receives and transmits the control commands of the intelligent controller 1 and controls the rotation of the permanent magnet synchronous motor 2; the display 4 is installed inside the intelligent control device for the permanent magnet synchronous motor 2; the input terminal of the display 4 is communicatively connected to the output terminal of the intelligent controller 1, the output terminal of the control circuit 3 and the output terminal of the sensor, respectively, to display the control information of the device.

[0089] As an optional implementation, the display 4 includes a display screen and a display 4 chip; the input terminal of the display 4 chip is communicatively connected to the output terminal of the intelligent controller 1, the output terminal of the control circuit 3 and the output terminal of the sensor, respectively; the output terminal of the display 4 chip is communicatively connected to the display screen.

[0090] Among them, the display 4 of this device is a human-computer interaction display 4, which can set commands on the display screen, and the display 4 chip, i.e. Figure 1 The MCU1 in the middle receives the command and then sends the command set on the display screen to the intelligent controller 1 through the communication serial port to control the motor start, stop, acceleration and deceleration, parameter adjustment, etc.

[0091] As an optional implementation, the intelligent control device for the permanent magnet synchronous motor 2 further includes: a sensor; the sensor includes a current sensor 5 and an angle sensor 6; the sensor is installed inside the intelligent control device for the permanent magnet synchronous motor 2; the input end of the sensor is communicatively connected to the permanent magnet synchronous motor 2, and the sensor is used to collect the current of the permanent magnet synchronous motor 2; the output end of the sensor is communicatively connected to the input end of the intelligent controller 1.

[0092] A sensor is a detection device that can sense the information being measured and transform that information into an electrical signal or other required form of information output according to a certain rule, so as to meet the requirements of information transmission, processing, storage, display, recording, and control. In this intelligent control device for the permanent magnet synchronous motor 2, the sensor is used to collect the current of the permanent magnet synchronous motor 2. It includes a current sensor 5 and an angle sensor 6. The current sensor 5 collects the numerical value of the current of the permanent magnet synchronous motor 2, and the angle sensor 6 collects the angle of the current of the permanent magnet synchronous motor 2, thereby obtaining the vector of the current of the permanent magnet synchronous motor 2 and accurately obtaining the required current information.

[0093] like Figure 1 As shown, this device includes an MCU1, a permanent magnet synchronous motor 2, a control circuit 3, a current sensor 5, an angle sensor 6, and an intelligent controller 1, which can adaptively filter out interference signals in the current. The current sensor 5 is connected to the motor, measures the three-phase stator current of the motor, and inputs the measured current to the intelligent controller 1 of the permanent magnet synchronous motor 2. The intelligent controller 1 includes an MCU2, a motor vector closed-loop controller 12, and an adaptive current filter 11. The current sensor 5 collects the current and transmits it to the motor vector closed-loop controller 12. The MCU2 calculates the d / q axis current, which is then input to the adaptive current filter 11 for filtering. The filtered d / q current is then input back to the vector closed-loop controller 12, where the MCU2 calculates the SVPWM duty cycle and inputs it to the control circuit 3 module, ultimately controlling the motor rotation.

[0094] Although the invention has been described herein in conjunction with various embodiments, those skilled in the art will understand and implement other variations of the disclosed embodiments by reviewing the accompanying drawings, the disclosure, and the appended claims in carrying out the claimed invention. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality. A single processor or other unit can implement several functions listed in the claims. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce good results.

[0095] Although the invention has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made therein without departing from the spirit and scope of the invention. Accordingly, this specification and drawings are merely exemplary descriptions of the invention as defined by the appended claims, and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of the invention. Clearly, those skilled in the art can make various alterations and modifications to the invention without departing from its spirit and scope. Thus, if such modifications and modifications of the invention fall within the scope of the claims and their equivalents, the invention is also intended to include such modifications and modifications.

Claims

1. An intelligent control device for a permanent magnet synchronous motor, characterized in that, include: A permanent magnet synchronous motor and an intelligent controller; the intelligent controller and the permanent magnet synchronous motor are installed in the intelligent control device of the permanent magnet synchronous motor; the intelligent controller is communicatively connected to the permanent magnet synchronous motor; the intelligent controller is used to control the permanent magnet synchronous motor; The intelligent controller is equipped with an adaptive current filter; the adaptive current filter uses an improved LMS algorithm to filter the current of the permanent magnet synchronous motor. The improved LMS algorithm incorporates a correction parameter; this correction parameter is used to dynamically adjust the weights of the weight update function in the improved LMS algorithm. The correction parameter is: ； Indicates the correction parameter. Indicates the weight. and Indicates the correction parameter. Indicates exponentiation; The relationship between the correction parameter and the weight is a linear positive correlation; The weight update function is: ； This represents the updated weights. This represents the nth input signal of the adaptive current filter. Indicates the error value. Indicates the step size factor; The correction parameter is a subtraction expression of the weight update function; The improved LMS algorithm is as follows: ； express The nth output signal after being filtered by the adaptive current filter. Indicates the error value. Indicates the expected output; The adaptive current filter samples each new input to obtain... and with corresponding The improved LMS algorithm is used to calculate... and Based on the obtained and The weights are calculated using the weight update function, so that the updated weight values ​​tend to be stable.

2. The intelligent control device for a permanent magnet synchronous motor according to claim 1, characterized in that, The intelligent control device for the permanent magnet synchronous motor further includes: a controller chip and a motor vector closed-loop controller; the controller chip and the motor vector closed-loop controller are communicatively connected; the adaptive current filter is communicatively connected to the motor vector closed-loop controller; the controller chip is used to calculate the axial current of the permanent magnet synchronous motor; the adaptive current filter uses an improved LMS algorithm to filter the axial current.

3. The intelligent control device for a permanent magnet synchronous motor according to claim 2, characterized in that, The adaptive current filter uses an improved LMS algorithm to filter the axial current, including: The axial current includes d-axis current and q-axis current, and the processing of d-axis current and q-axis current is the same. The adaptive current filter uses the improved LMS algorithm to perform the filtering process on the d-axis current as follows: ； This represents the d-axis current output by the motor vector closed-loop controller for the nth time; This represents the desired current value along the d-axis, achieved by... Obtained by low-pass filtering; This represents the d-axis current after processing by the adaptive current filter; The adaptive current filter uses the improved LMS algorithm to filter the q-axis current as follows: ； This represents the q-axis current output by the motor vector closed-loop controller for the nth time; This represents the desired q-axis current value, obtained by... Obtained by low-pass filtering; This represents the q-axis current after processing by the adaptive current filter.

4. The intelligent control device for a permanent magnet synchronous motor according to claim 3, characterized in that, The processed d-axis current and the processed q-axis current are input again into the motor vector closed-loop controller, and the controller chip calculates the d-axis voltage and q-axis voltage. Based on the d-axis voltage and the q-axis voltage, the motor vector closed-loop controller performs space vector pulse width modulation to obtain the stator voltage of the permanent magnet synchronous motor.

5. The intelligent control device for a permanent magnet synchronous motor according to claim 1, characterized in that, The intelligent control device for the permanent magnet synchronous motor further includes: a sensor; the sensor includes a current sensor and an angle sensor; the sensor is installed inside the intelligent control device for the permanent magnet synchronous motor; the input end of the sensor is communicatively connected to the permanent magnet synchronous motor, and the sensor is used to collect the current of the permanent magnet synchronous motor; the output end of the sensor is communicatively connected to the input end of the intelligent controller.

6. The intelligent control device for a permanent magnet synchronous motor according to claim 5, characterized in that, The intelligent control device for the permanent magnet synchronous motor further includes: a control circuit and a display; the input terminal of the control circuit is communicatively connected to the output terminal of the intelligent controller, and the control circuit is used to receive and transmit control commands from the intelligent controller; the output terminal of the control circuit is communicatively connected to the input terminal of the permanent magnet synchronous motor, and the control circuit is used to control the rotation of the permanent magnet synchronous motor; the display is installed inside the intelligent control device for the permanent magnet synchronous motor; the input terminal of the display is communicatively connected to the output terminal of the intelligent controller, the output terminal of the control circuit, and the output terminal of the sensor, respectively.

7. The intelligent control device for a permanent magnet synchronous motor according to claim 6, characterized in that, The display includes a display screen and a display chip; the input terminal of the display chip is communicatively connected to the output terminal of the intelligent controller, the output terminal of the control circuit, and the output terminal of the sensor, respectively; the output terminal of the display chip is communicatively connected to the display screen.

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