Online identification and adaptive filtering method and system for inductance parameters of overmodulation weak magnetic region of permanent magnet synchronous motor

Abstract

The invention discloses an on-line identification and adaptive filtering method and system for an inductance parameter of an over-modulation field weakening area of a permanent magnet synchronous motor, and relates to the field of over-modulation field weakening control of the permanent magnet synchronous motor. The problem of inductance parameter perturbation of an overmodulation flux-weakening area caused by reduction of inductance saturation current loop decoupling precision of the flux-weakening area of the permanent magnet synchronous motor during high-speed operation and a large amount of harmonic waves introduced by overmodulation is solved. The method comprises the following steps: S1, constructing a steady-state voltage equation of the permanent magnet synchronous motor; s2, deducing an actual inductance expression according to a voltage equation and a decoupling item; s3, constructing an inductance identification closed loop and designing an inductance identification controller; and S4, carrying out adaptive filtering on an over-modulation weak magnetic region parameter identification result. The method is applied to the fields of electric automobiles, aerospace and the like.

Description

Technical Field

[0001] The invention relates to the field of overmodulation and weakening magnetic field control of permanent magnet synchronous motors, and in particular to an online identification and adaptive filtering method of inductance parameters in an overmodulation and weakening magnetic field region of a permanent magnet synchronous motor. Background Art

[0002] Permanent magnet synchronous motors are widely used in electric vehicles and aerospace due to their high efficiency and excellent power-to-weight ratio. In order to achieve operation above the base speed, voltage closed-loop weak magnetic control is usually adopted, which has high parameter robustness and simple design. However, while expanding the speed range, it becomes crucial to improve the ultimate output torque capacity in the weak magnetic zone, and overmodulation operation is required. The limit state of overmodulation is six-beat operation, but this will introduce significant sixth harmonics in the rotating shaft system. After adopting overmodulation operation, the weak magnetic control system of the permanent magnet synchronous motor faces two major problems: first, the inductance saturation of the weak magnetic zone of the permanent magnet synchronous motor during high-speed operation will cause the motor parameters to change, thereby reducing the decoupling accuracy of the current loop; second, the overmodulation algorithm will introduce a large number of harmonics in the feedback current, further causing the perturbation of the inductance parameters. These problems need to be solved urgently to optimize the motor performance. Summary of the invention

[0003] Aiming at the problem that the decoupling accuracy of the inductance saturation current loop in the weak magnetic field region of the permanent magnet synchronous motor decreases during high-speed operation and a large number of harmonics introduced by overmodulation may cause the inductance parameters of the weak magnetic field region to be perturbed, the present invention proposes an online identification and adaptive filtering method for the inductance parameters of the weak magnetic field region of the overmodulation permanent magnet synchronous motor, the method comprising:

[0004] S1: Construct the steady-state voltage equation of permanent magnet synchronous motor;

[0005] S2: Derive the actual inductance expression based on the voltage equation and decoupling terms;

[0006] S3: Construct an inductance identification closed loop and design an inductance identification controller;

[0007] S4: Adaptively filter the overmodulation weakening magnetic region parameter identification results.

[0008] Furthermore, a preferred method is proposed, wherein step S1 comprises:

[0009]

[0010] Among them, u d is the d-axis voltage, u q is the q-axis voltage, i d is the d-axis current, i q is the q-axis current, L d is the d-axis inductance, L q is the q-axis inductance, ωe is the electrical angular velocity, ψ f is the rotor flux.

[0011] Furthermore, a preferred method is proposed, wherein step S2 comprises:

[0012]

[0013] in, is the q-axis inductance calibration value used for current loop feedback decoupling calculation, is the d-axis inductance calibration value used for current loop feedback decoupling calculation, u d,err is the d-axis voltage error, u q,err is the q-axis voltage error, L d,err is the d-axis inductance error, L q,err is the q-axis inductance error.

[0014] Furthermore, a preferred method is proposed, in which the inductance identification closed loop is constructed in step S3, including:

[0015] Construct the open-loop transfer function H of the d-axis inductance identification loop Ld (s) and the open-loop transfer function H of the q-axis inductance identification loop Lq (s):

[0016]

[0017] Among them, K p,Ld , K i,Ld K is the PI parameter of the d-axis inductance identification loop; p,Lq , K i,Lq is the PI parameter of the q-axis inductance identification loop; s is the complex frequency;

[0018] Closed loop transfer function G Ld (s) and G Lq (s) is the first-order inertia link:

[0019]

[0020] Among them, ω b is the closed-loop bandwidth.

[0021] Furthermore, a preferred method is proposed, wherein the inductance identification controller is designed in step S3, including:

[0022]

[0023] Furthermore, a preferred method is proposed, wherein step S4 comprises:

[0024] A second-order generalized integrator is embedded in the inductance identification closed loop, and the speed information is used to adaptively filter out the harmonics in the inductance identification result.

[0025] Furthermore, a preferred embodiment is proposed, in which the transfer function of the second-order generalized integrator is:

[0026]

[0027] Where k is the SOGI coefficient, ω h is the desired suppression frequency.

[0028] Based on the same inventive concept, the present invention also proposes an online identification and adaptive filtering system for inductance parameters in an overmodulation weak magnetic region of a permanent magnet synchronous motor, the system comprising:

[0029] A steady-state voltage equation building unit, used to build a steady-state voltage equation for a permanent magnet synchronous motor;

[0030] An inductance expression acquisition unit, used for deriving an actual inductance expression according to a voltage equation and a decoupling term;

[0031] Identification unit, used to build an inductance identification closed loop and design an inductance identification controller;

[0032] The adaptive filtering unit is used to perform adaptive filtering on the overmodulation weakening magnetic region parameter identification result.

[0033] Based on the same inventive concept, the present invention also proposes a computer device, including a memory and a processor, wherein the memory stores a computer program. When the processor runs the computer program stored in the memory, the processor executes an online identification and adaptive filtering method for inductance parameters of an overmodulated weak magnetic field region of a permanent magnet synchronous motor according to any one of the above-mentioned methods.

[0034] Based on the same inventive concept, the present invention also proposes a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, the steps of an online identification and adaptive filtering method for inductance parameters of an overmodulated weak magnetic field region of a permanent magnet synchronous motor as described in any of the above items are executed.

[0035] The present invention is beneficial in that:

[0036] The present invention provides an online identification and adaptive filtering method for the inductance parameters of an overmodulated weak magnetic field region of a permanent magnet synchronous motor. By constructing an accurate voltage equation and inductance expression and combining closed-loop control, the identification accuracy of the inductance parameters can be significantly improved, and the error caused by inductance saturation during high-speed operation can be reduced. The adaptive filtering method enables the system to dynamically adapt to changes in motor operating conditions, effectively eliminate harmonic effects, and maintain the stability of inductance parameters. The method can realize online identification, is suitable for real-time monitoring and adjustment of inductance parameters in practical applications, and improves the response speed and stability of motor control. By effectively identifying and filtering the inductance parameters in the weak magnetic field region, the robustness of the motor under complex operating conditions is enhanced, and the performance of the overall system is improved. Accurate inductance parameter identification can optimize the motor control strategy, thereby reducing energy loss and improving system efficiency.

[0037] The present invention provides an online identification and adaptive filtering method for the inductance parameters of the overmodulated weak magnetic field region of a permanent magnet synchronous motor. The designed controller calculates the inductance error in real time according to the speed and current information and compensates it to the inductance calibration value, thereby realizing the online identification of the inductance parameters. A second-order generalized integrator is introduced into the proposed inductance parameter compensation loop, and the speed information is used to adaptively filter the harmonics in the inductance identification result. The present invention can realize the online identification of the adaptive inductance parameters of the overmodulated weak magnetic field region of the permanent magnet synchronous motor, and at the same time can filter the harmonics in the inductance identification result caused by overmodulation.

[0038] The present invention is applicable to electric vehicles, aerospace and other fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a block diagram of online parameter identification and adaptive filtering in the overmodulation field weakening region of a permanent magnet synchronous motor according to the first embodiment;

[0040] Figure 2 is a block diagram of d-axis inductance identification according to the eleventh embodiment;

[0041] Figure 3 is a block diagram of q-axis inductance identification according to the eleventh embodiment;

[0042] Figure 4 is a block diagram of a second-order generalized integrator according to the eleventh embodiment;

[0043] Figure 5 The Bode diagram of the second-order generalized integrator according to the eleventh embodiment;

[0044] Figure 6 is a block diagram of d-axis inductance identification according to the eleventh embodiment;

[0045] Figure 7 is a block diagram of q-axis inductance identification according to the eleventh embodiment;

[0046] Figure 8 This is a diagram of the inductance error identification result described in the eleventh embodiment. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0048] Implementation method 1, see Figure 1 The present embodiment describes an online identification and adaptive filtering method for inductance parameters of an overmodulation weak magnetic field region of a permanent magnet synchronous motor, the method comprising:

[0049] S1: Construct the steady-state voltage equation of permanent magnet synchronous motor;

[0050] S2: Derive the actual inductance expression based on the voltage equation and decoupling terms;

[0051] S3: Construct an inductance identification closed loop and design an inductance identification controller;

[0052] S4: Adaptively filter the overmodulation weakening magnetic region parameter identification results.

[0053] The present embodiment proposes an online identification and adaptive filtering method for the inductance parameters of the overmodulated weak magnetic field region of a permanent magnet synchronous motor. By analyzing the working principle of the permanent magnet synchronous motor, a steady-state voltage equation is established to reflect the voltage characteristics of the motor under different operating conditions. This equation takes into account the relationship between the voltage input, magnetic field, and current of the motor. Based on the steady-state voltage equation and the decoupling term, the expression of the actual inductance is derived. The inductance may be saturated in the overmodulated weak magnetic field region due to changes in current, resulting in fluctuations in its parameters. Therefore, an accurate inductance expression is the basis for subsequent identification.

[0054] A closed-loop system for inductance identification is constructed, and a corresponding controller is designed. This closed-loop system can monitor the operating status of the motor in real time, and adjust the identification of the inductance parameters according to the feedback signal to improve the accuracy. For the identification results, a second-order generalized integrator is introduced in the proposed inductance parameter compensation loop, and the speed information is used to adaptively filter the harmonics in the inductance identification results, so as to reduce the perturbation of the identification results under the premise of online inductance identification.

[0055] The online identification and adaptive filtering method of the inductance parameters of the overmodulated weak magnetic field region of a permanent magnet synchronous motor proposed in this embodiment can significantly improve the identification accuracy of the inductance parameters and reduce the error caused by inductance saturation during high-speed operation by constructing accurate voltage equations and inductance expressions and combining closed-loop control. The adaptive filtering method enables the system to dynamically adapt to changes in motor operating conditions, effectively eliminate harmonic effects, and maintain the stability of inductance parameters. The method can realize online identification and is suitable for real-time monitoring and adjustment of inductance parameters in practical applications, thereby improving the response speed and stability of motor control. By effectively identifying and filtering the inductance parameters in the weak magnetic field region, the robustness of the motor under complex operating conditions is enhanced, and the performance of the overall system is improved. Accurate inductance parameter identification can optimize the motor control strategy, thereby reducing energy loss and improving system efficiency.

[0056] Embodiment 2: This embodiment further limits the method for online identification and adaptive filtering of inductance parameters in an overmodulation weak magnetic region of a permanent magnet synchronous motor described in embodiment 1. Step S1 includes:

[0057]

[0058] Among them, u d is the d-axis voltage, u q is the q-axis voltage, i d is the d-axis current, i q is the q-axis current, L d is the d-axis inductance, L q is the q-axis inductance, ω e is the electrical angular velocity, ψ f is the rotor flux.

[0059] In this embodiment, the relationship between various electrical variables is clarified by constructing a steady-state voltage equation. By introducing specific voltage and current variables, the inductor model is made more accurate. This can better capture the dynamic changes of inductor saturation in the overmodulation weak magnetic region.

[0060] The refined steady-state voltage equation in this implementation improves the accuracy of the model and helps to better reflect the actual performance of the motor under different working conditions. Due to the detailed description of voltage and current, the identification process of the inductance parameters can be more accurate, thereby improving the reliability and stability of the entire identification system. By considering the changes in electrical angular velocity and rotor flux, it is possible to better adapt to the dynamic characteristics of the motor under different operating conditions, thereby optimizing the control response. Accurate voltage equations help reduce control errors that may occur in overmodulation states and improve the overall performance of the motor.

[0061] Embodiment 3: This embodiment further limits the method for online identification and adaptive filtering of inductance parameters in overmodulation weak magnetic region of permanent magnet synchronous motor described in embodiment 2. Step S2 includes:

[0062]

[0063] in, is the q-axis inductance calibration value used for current loop feedback decoupling calculation, is the d-axis inductance calibration value used for current loop feedback decoupling calculation, u d,err is the d-axis voltage error, u q,err is the q-axis voltage error, L d,err is the d-axis inductance error, L q,err is the q-axis inductance error.

[0064] In this implementation, by introducing the concept of inductance error, the derived expression of inductance is more in line with reality, significantly improving the accuracy of inductance parameters. After considering the voltage error, feedback control can be better performed, reducing delays and instability in the control system, thereby improving overall performance. This method allows the inductance value to be dynamically adjusted according to the actual operating state, so that the motor can maintain excellent control performance under different operating conditions. By calculating the calibration value and error, the system's adaptability to external disturbances and changes is enhanced, which helps to operate stably in complex environments.

[0065] Embodiment 4: This embodiment further limits the method for online identification and adaptive filtering of inductance parameters in the overmodulation weak magnetic region of a permanent magnet synchronous motor described in embodiment 1. In step S3, an inductance identification closed loop is constructed, including:

[0066] Construct the open-loop transfer function H of the d-axis inductance identification loop Ld (s) and the open-loop transfer function H of the q-axis inductance identification loop Lq (s):

[0067]

[0068] Among them, K p,Ld , K i,Ld K is the PI parameter of the d-axis inductance identification loop; p,Lq , K i,Lq is the PI parameter of the q-axis inductance identification loop; s is the complex frequency;

[0069] Closed loop transfer function G Ld (s) and G Lq (s) is the first-order inertia link:

[0070]

[0071] Among them, ωb is the closed-loop bandwidth.

[0072] In this embodiment, through closed-loop control, the inductance parameters can be adjusted in real time during actual operation, which improves the accuracy of identification and reduces static errors. The design of the first-order inertia link makes the system response smoother, reduces the oscillation phenomenon caused by instability in the system, and enhances the dynamic performance of the system. By adjusting the PI parameters, the system can better cope with external disturbances and internal changes, and improves the overall robustness and adaptability. By adjusting the bandwidth, the best balance between speed and accuracy can be found to meet the needs of different working conditions.

[0073] Embodiment 5: This embodiment further limits the method for online identification and adaptive filtering of inductance parameters in overmodulation weak magnetic region of permanent magnet synchronous motor described in embodiment 4. In step S3, an inductance identification controller is designed, including:

[0074]

[0075] Embodiment 6: This embodiment further limits the method for online identification and adaptive filtering of inductance parameters in overmodulation weak magnetic region of permanent magnet synchronous motor described in embodiment 1. Step S4 includes:

[0076] A second-order generalized integrator is embedded in the inductance identification closed loop, and the speed information is used to adaptively filter out the harmonics in the inductance identification result.

[0077] The second-order generalized integrator in this embodiment is used to process the high-frequency noise of the input signal. By integrating the signal, the harmonic components are smoothed, making the main signal components more prominent. In this embodiment, the speed information is also used as feedback to adjust the parameters of the filter in real time to adapt to the harmonic characteristics under different working conditions, thereby achieving dynamic optimization. Adaptive filtering eliminates the influence of harmonics on the inductance identification results and improves the clarity and reliability of the signal.

[0078] Embodiment 7: This embodiment further limits the online identification and adaptive filtering method of inductance parameters in the overmodulation weak magnetic region of a permanent magnet synchronous motor described in embodiment 1. The transfer function of the second-order generalized integrator is:

[0079]

[0080] Where k is the SOGI coefficient, ω h is the desired suppression frequency.

[0081] Embodiment 8: A system for online identification and adaptive filtering of inductance parameters in an overmodulation weak magnetic region of a permanent magnet synchronous motor described in this embodiment, the system comprising:

[0082] A steady-state voltage equation building unit, used to build a steady-state voltage equation for a permanent magnet synchronous motor;

[0083] An inductance expression acquisition unit, used for deriving an actual inductance expression according to a voltage equation and a decoupling term;

[0084] Identification unit, used to build an inductance identification closed loop and design an inductance identification controller;

[0085] The adaptive filtering unit is used to perform adaptive filtering on the overmodulation weakening magnetic region parameter identification result.

[0086] Embodiment 9. A computer device described in this embodiment includes a memory and a processor, wherein the memory stores a computer program. When the processor runs the computer program stored in the memory, the processor executes an online identification and adaptive filtering method for inductance parameters of an overmodulated weak magnetic field region of a permanent magnet synchronous motor according to any one of embodiments 1 to 7.

[0087] Embodiment 10. A computer-readable storage medium described in this embodiment stores a computer program, and when the computer program is executed by a processor, the steps of a method for online identification and adaptive filtering of inductance parameters in an overmodulation weak magnetic region of a permanent magnet synchronous motor as described in any one of embodiments 1 to 7 are executed.

[0088] Implementation Method 11: See Figures 2 to 8 This embodiment provides a specific example of the online identification and adaptive filtering method of the inductance parameters of the overmodulation weak magnetic field region of a permanent magnet synchronous motor described in the first embodiment, and is also used to explain the first to seventh embodiments, specifically:

[0089] Step 1: Derive the actual inductance expression based on the voltage equation and the decoupling term.

[0090] Assume that the rotor flux ψ f is a constant, current changes only cause changes in dq axis inductance, and the current loop uses feedback decoupling. When running at high speed and weak magnetic field, ignoring the resistance voltage drop, the steady-state voltage equation of the permanent magnet synchronous motor is:

[0091]

[0092] Where: u d 、u q is the d and q axis voltage; i d 、i q is the d and q axis current; L d , L q is the d and q axis inductance; ω e is the electrical angular velocity.

[0093] In the above formula, L d , L q are all actual values; the observed inductance value is indicated by the superscript “^”; the calibrated inductance value used for current loop feedback decoupling calculation is indicated by the superscript “ˉ”, then the dq axis voltage feedback decoupling term u d,fbd 、u q,fbd Written as:

[0094]

[0095] Define the d-axis voltage error u d,er and q-axis voltage error u q,err :

[0096]

[0097] According to the above formula, the expression of real inductance can be derived as:

[0098]

[0099] Where: L d,err is the d-axis inductance error, L q,err is the q-axis inductance error.

[0100] Step 2: Construct the inductance identification closed loop and derive the inductance identification controller design method.

[0101] According to formula (3), if the error compensation of the inductance calibration value is performed to make it reach the true value, the d-axis voltage error and the q-axis voltage error should be zero. This feature is consistent with the control concept of the PI (proportional integral) regulator, that is, the control system is influenced by the output of the PI regulator so that the error between its reference value and feedback value is zero. Figure 2 and Figure 3 As shown in the figure, they are the block diagrams of the d-axis and q-axis inductance identification, respectively. The inductance observation value is used to calculate the current decoupling term to form a closed loop. The d-axis voltage error u is compensated by the inductance. d,err and q-axis voltage error u q,err is zero.

[0102] Assume that the bandwidth of the parameter identification closed loop is ω b ,according to Figure 2 and Figure 3 If the proportional link of the PI regulator is zero, then the d-axis inductance identification loop H Ld (s) and the open-loop transfer function H of the q-axis inductance identification loop Lq (s) can be written as a pure integral link:

[0103]

[0104] Where: K p,Ld , K i,LdK is the PI parameter of the d-axis inductance identification loop; p,Lq , K i,Lq It is the PI parameter of the q-axis inductance identification loop.

[0105] At this time, the closed-loop transfer function G Ld (s) and G Lq (s) can be written as a first-order inertial link, whose performance is determined only by its bandwidth ω b Decide:

[0106]

[0107] According to formula (5), the parameters of the PI controller of the inductance identification loop of the dq axis are derived as follows:

[0108]

[0109] Step 3: Adaptively filter the overmodulation weakening magnetic region parameter identification results.

[0110] In the overmodulation weak magnetic field area, due to the existence of the sixth current harmonic, the inductance identification result is inevitably perturbed. The reasons are: first, since the voltage decoupling term is calculated based on the feedback current, the current harmonic will definitely cause the voltage harmonic; second, the parameters of the inductance identification PI regulator are also affected by the current harmonic. Therefore, in order to eliminate the influence of the sixth harmonic in a targeted manner, the second order generalized integrator (SOGI) is introduced, and its structure is as follows: Figure 4 As shown, where k is the SOGI coefficient, ω h For the desired suppression frequency, the transfer function is:

[0111]

[0112] Figure 5 The Bode diagram of the second-order generalized integrator shows that the second-order generalized integrator has a strong suppression effect on harmonics of a specific frequency. Since the harmonic frequency can be determined after overmodulation, the electrical angular velocity is multiplied by 6 as the target suppression frequency of the second-order generalized integrator, making it have speed adaptive characteristics.

[0113] Figure 6 and Figure 7 This is the block diagram for identifying the d-axis and q-axis inductances during overmodulation field weakening operation. Figure 2 Based on the proposed method, a second-order generalized integrator (SOGI) and a low-pass filter (LPF) are embedded into the inductance identification loop to achieve adaptive filtering of the inductance identification results.

[0114] The above scheme can realize the online identification and adaptive filtering of the inductance parameters of the overmodulation weak magnetic region of the permanent magnet synchronous motor.

[0115] The online identification and adaptive filtering method of the inductance parameters of the overmodulated weak magnetic field region of the permanent magnet synchronous motor proposed in this embodiment is used to conduct experimental verification on an actual three-phase permanent magnet synchronous motor towing test platform. The rated power of the three-phase permanent magnet synchronous motor is 2.2kW, the d-axis inductance calibration value is 9mH, and the q-axis inductance calibration value is 18.5mH. Figure 8 The inductance error identification results at different speeds (base speed is 1.0 pu) are shown. According to the comparison diagram before and after adaptive filtering, it can be clearly seen that the inductance error harmonics are significantly reduced, which proves the effectiveness of the method proposed in this implementation.

[0116] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0117] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each process and / or block in the flowchart and / or block diagram and the combination of processes and / or blocks in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the functions specified in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0118] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1The steps for the functions specified in one or more boxes.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure rather than to limit its protection scope. Although the present disclosure has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that after reading the present disclosure, those skilled in the art can still make various changes, modifications or equivalent substitutions to the specific implementation methods of the invention, but these changes, modifications or equivalent substitutions are all within the protection scope of the disclosed claims to be approved.

Claims

1. A method for online identification and adaptive filtering of inductance parameters in overmodulation weak magnetic region of permanent magnet synchronous motor, characterized in that: The method comprises: S1: Construct the steady-state voltage equation of permanent magnet synchronous motor; S2: Derive the actual inductance expression based on the voltage equation and decoupling terms; S3: Construct an inductance identification closed loop and design an inductance identification controller; S4: Adaptively filter the overmodulation weakening magnetic region parameter identification results.

2. The method for online identification and adaptive filtering of inductance parameters in overmodulation weak magnetic region of permanent magnet synchronous motor according to claim 1 is characterized in that: The step S1 comprises: Among them, u d is the d-axis voltage, u q is the q-axis voltage, i d is the d-axis current, i q is the q-axis current, L d is the d-axis inductance, L q is the q-axis inductance, ω e is the electrical angular velocity, ψ f is the rotor flux.

3. The method for online identification and adaptive filtering of inductance parameters in overmodulation weak magnetic region of permanent magnet synchronous motor according to claim 2, characterized in that: The step S2 comprises: in, is the q-axis inductance calibration value used for current loop feedback decoupling calculation, is the d-axis inductance calibration value used for current loop feedback decoupling calculation, u d,err is the d-axis voltage error, u q,err is the q-axis voltage error, L d,err is the d-axis inductance error, L q,err is the q-axis inductance error.

4. The method for online identification and adaptive filtering of inductance parameters in overmodulation weak magnetic region of permanent magnet synchronous motor according to claim 1, characterized in that: The step S3 constructs an inductance identification closed loop, including: Construct the open-loop transfer function H of the d-axis inductance identification loop Ld (s) and the open-loop transfer function H of the q-axis inductance identification loop Lq (s): Among them, K p,Ld , K i,Ld K is the PI parameter of the d-axis inductance identification loop; p,Lq , K i,Lq is the PI parameter of the q-axis inductance identification loop; s is the complex frequency; Closed loop transfer function G Ld (s) and G Lq (s) is the first-order inertia link: Among them, ω b is the closed-loop bandwidth.

5. The method for online identification and adaptive filtering of inductance parameters in overmodulation weak magnetic region of permanent magnet synchronous motor according to claim 4, characterized in that: The step S3 of designing an inductance identification controller includes:

6. The method for online identification and adaptive filtering of inductance parameters in overmodulation weak magnetic region of permanent magnet synchronous motor according to claim 1, characterized in that: The step S4 comprises: A second-order generalized integrator is embedded in the inductance identification closed loop, and the speed information is used to adaptively filter out the harmonics in the inductance identification result.

7. The method for online identification and adaptive filtering of inductance parameters in overmodulation weak magnetic region of permanent magnet synchronous motor according to claim 1, characterized in that: The transfer function of the second-order generalized integrator is: Where k is the SOGI coefficient, ω h is the desired suppression frequency.

8. An online identification and adaptive filtering system for inductance parameters in overmodulation weak magnetic region of permanent magnet synchronous motor, characterized in that: The system comprises: A steady-state voltage equation building unit, used to build a steady-state voltage equation for a permanent magnet synchronous motor; An inductance expression acquisition unit, used for deriving an actual inductance expression according to a voltage equation and a decoupling term; Identification unit, used to build an inductance identification closed loop and design an inductance identification controller; The adaptive filtering unit is used to perform adaptive filtering on the overmodulation weakening magnetic region parameter identification result.

9. A computer device, characterized in that: It includes a memory and a processor, wherein a computer program is stored in the memory. When the processor runs the computer program stored in the memory, the processor executes an online identification and adaptive filtering method for inductance parameters of an overmodulated weak magnetic region of a permanent magnet synchronous motor according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, executes the steps of a method for online identification and adaptive filtering of inductance parameters in an overmodulation weak magnetic region of a permanent magnet synchronous motor as described in any one of claims 1 to 7.

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