Permanent magnet synchronous motor torque compensation method, device, equipment and storage medium

Abstract

The invention discloses a permanent magnet synchronous motor torque compensation method, device and equipment and a storage medium, relates to the technical field of vehicle control, and discloses a permanent magnet synchronous motor torque compensation method comprising the following steps: obtaining motor parameters of a permanent magnet synchronous motor, and obtaining an actual output torque according to the motor parameters; obtaining a torque deviation according to the reference torque and the actual output torque of the permanent magnet synchronous motor; according to the method, the torque compensation value of the current torque is obtained through fuzzy processing of the torque deviation, and the control torque of the permanent magnet synchronous motor is obtained based on the torque compensation value and the current torque. According to the method, accurate motor model parameters are not needed, the method can adapt to changes of motor parameters and fluctuation of loads, the robustness and adaptability of torque compensation are improved, and meanwhile the torque control precision and operation stability of the permanent magnet synchronous motor can be effectively improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, device, equipment and storage medium for torque compensation of a permanent magnet synchronous motor. Background Art

[0002] Permanent magnet synchronous motors have been widely used in industries, transportation, and home appliances due to their high efficiency, high power density, and good speed regulation performance. However, in actual operation, due to factors such as changes in motor parameters, load fluctuations, and nonlinear magnetic fields, the output torque of the motor often deviates, affecting the control accuracy and operation stability of the motor.

[0003] At present, common torque compensation methods mainly include model-based compensation methods and observer-based compensation methods. Model-based compensation methods require accurate motor model parameters, but motor parameters will change during operation, resulting in poor compensation effect. Observer-based compensation methods have problems such as complex observer design and large amount of calculation. Fixed control parameters will lead to poor transition performance and poor tracking effect.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present application is to provide a permanent magnet synchronous motor torque compensation method, device, equipment and storage medium, aiming to solve the technical problem that the output torque of the motor often deviates due to changes in external factors, affecting the control accuracy and operating stability of the motor.

[0006] To achieve the above object, the present application proposes a permanent magnet synchronous motor torque compensation method, the permanent magnet synchronous motor torque compensation method comprising:

[0007] Acquire motor parameters of the permanent magnet synchronous motor, and obtain actual output torque according to the motor parameters;

[0008] Obtaining a torque deviation according to a reference torque and an actual output torque of the permanent magnet synchronous motor;

[0009] The torque deviation is fuzzy processed to obtain a torque compensation value, and torque compensation is performed on the permanent magnet synchronous motor based on the torque compensation value.

[0010] In one embodiment, the fuzzy processing is performed on the torque deviation to obtain a torque compensation value, and the torque compensation is performed on the permanent magnet synchronous motor based on the torque compensation value, including:

[0011] Perform fuzzy processing on the torque deviation to obtain the torque compensation value;

[0012] Correcting the reference torque based on the torque compensation value to obtain a target torque;

[0013] The operation of the permanent magnet synchronous motor is controlled based on the target torque to achieve torque compensation for the permanent magnet synchronous motor.

[0014] In one embodiment, the fuzzy processing of the torque deviation to obtain the torque compensation value includes:

[0015] Fuzzifying the torque deviation to obtain a control fuzzy amount;

[0016] Perform fuzzy reasoning according to the control fuzzy quantity to obtain reasoning parameters;

[0017] The inference parameter is defuzzified to obtain a torque compensation value.

[0018] In one embodiment, the fuzzification of the torque deviation to obtain a control fuzzy value includes:

[0019] Get the preset domain of torque deviation;

[0020] Constructing a torque deviation membership function curve according to the preset domain;

[0021] The torque deviation is fuzzified according to the torque deviation membership function curve to obtain a control fuzzy amount.

[0022] In one embodiment, the defuzzification process is performed on the inference parameter to obtain the torque compensation value, including:

[0023] Obtaining the activation strength of each fuzzy rule according to the inference parameters;

[0024] Obtaining a rule weight of each fuzzy rule based on the activation strength;

[0025] A torque compensation value is obtained according to the rule weight.

[0026] In one embodiment, obtaining the torque compensation value according to the rule weight includes:

[0027] The rule weights are averaged and weighted to obtain a torque compensation value.

[0028] In one embodiment, the step of acquiring motor parameters of the permanent magnet synchronous motor and obtaining the actual output torque according to the motor parameters includes:

[0029] Acquire motor parameters of the permanent magnet synchronous motor, wherein the motor parameters include current, voltage and speed signals;

[0030] Performing coordinate transformation and three-phase mathematical transformation on the current, the voltage and the speed signal to obtain a current component and a voltage component;

[0031] The actual output torque is obtained based on the mathematical model of the permanent magnet synchronous motor, the current component and the voltage component.

[0032] In addition, to achieve the above-mentioned purpose, the present application also proposes a permanent magnet synchronous motor torque compensation device, the permanent magnet synchronous motor torque compensation device comprising:

[0033] A parameter acquisition module, used to acquire motor parameters of the permanent magnet synchronous motor, and obtain actual output torque according to the motor parameters;

[0034] A torque deviation calculation module, used to obtain a torque deviation according to a reference torque and an actual output torque of the permanent magnet synchronous motor;

[0035] The torque compensation module is used to perform fuzzy processing on the torque deviation to obtain a torque compensation value, and perform torque compensation on the permanent magnet synchronous motor based on the torque compensation value.

[0036] In addition, to achieve the above-mentioned objectives, the present application also proposes a permanent magnet synchronous motor torque compensation device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the permanent magnet synchronous motor torque compensation method as described above.

[0037] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the permanent magnet synchronous motor torque compensation method as described above are implemented.

[0038] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the permanent magnet synchronous motor torque compensation method as described above are implemented.

[0039] One or more technical solutions proposed in this application have at least the following technical effects:

[0040] By fuzzy processing the torque deviation, the torque compensation value for the current torque is obtained, and the control torque of the permanent magnet motor is obtained based on the torque compensation value and the current torque. No precise motor model parameters are required, and it can adapt to changes in motor parameters and load fluctuations, thereby improving the robustness and adaptability of torque compensation. At the same time, it can effectively improve the torque control accuracy and operation stability of the permanent magnet synchronous motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0043] Figure 1 A schematic diagram of a flow chart provided for the first embodiment of the permanent magnet synchronous motor torque compensation method of the present application;

[0044] Figure 2 A schematic diagram of a torque compensation process based on resolver phase error correction provided in Embodiment 1 of the permanent magnet synchronous motor torque compensation method of the present application;

[0045] Figure 3 A schematic diagram of the structure of a resolver phase error correction device based on a permanent magnet synchronous motor torque compensation system provided in Embodiment 1 of the permanent magnet synchronous motor torque compensation method of the present application;

[0046] Figure 4 A flow chart of the second embodiment of the permanent magnet synchronous motor torque compensation method provided in the present application;

[0047] Figure 5 This is a schematic diagram of the module structure of the permanent magnet synchronous motor torque compensation device according to an embodiment of the present application;

[0048] Figure 6 Schematic diagram of the equipment structure of the hardware operating environment involved in the permanent magnet synchronous motor torque compensation method in the embodiment of the present application. DETAILED DESCRIPTION

[0049] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0050] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0051] The main solution of the embodiment of the present application is: obtain the motor parameters of the permanent magnet synchronous motor, and obtain the actual output torque according to the motor parameters; obtain the torque deviation according to the reference torque and the actual output torque of the permanent magnet synchronous motor; perform fuzzy processing on the torque deviation to obtain the torque compensation value, and perform torque compensation on the permanent magnet synchronous motor based on the torque compensation value.

[0052] In this embodiment, for the convenience of description, the following description is made by taking the identification of the permanent magnet synchronous motor torque compensation device as the execution subject.

[0053] Due to its high efficiency, high power density and good speed regulation performance, the existing permanent magnet synchronous motor has been widely used in the fields of industry, transportation and home appliances. However, in actual operation, due to factors such as changes in motor parameters, load fluctuations and nonlinear magnetic field, the output torque of the motor often deviates, affecting the control accuracy and operation stability of the motor. At present, common torque compensation methods mainly include model-based compensation methods and observer-based compensation methods. The model-based compensation method requires accurate motor model parameters, and the motor parameters will change during operation, resulting in poor compensation effect. The observer-based compensation method has problems such as complex observer design and large amount of calculation. And fixed control parameters will lead to problems such as poor transition performance and poor tracking effect.

[0054] The present application provides a solution, which obtains the torque compensation value for the current torque through fuzzy processing of the torque deviation, and obtains the control torque of the permanent magnet motor based on the torque compensation value and the current torque. It does not require precise motor model parameters, can adapt to changes in motor parameters and load fluctuations, improves the robustness and adaptability of torque compensation, and can effectively improve the torque control accuracy and operating stability of the permanent magnet synchronous motor.

[0055] It can be seen from the above embodiments that the present application discloses a permanent magnet synchronous motor torque compensation method, device, equipment and storage medium, which relates to the field of vehicle control technology, and discloses a permanent magnet synchronous motor torque compensation method, including: obtaining motor parameters of the permanent magnet synchronous motor, and obtaining the actual output torque according to the motor parameters; obtaining the torque deviation according to the reference torque and the actual output torque of the permanent magnet synchronous motor; fuzzy processing the torque deviation to obtain a torque compensation value, and performing torque compensation on the permanent magnet synchronous motor based on the torque compensation value. The method obtains a torque compensation value for the current torque by fuzzy processing the torque deviation, and obtains the control torque of the permanent magnet motor based on the torque compensation value and the current torque. It does not require precise motor model parameters, can adapt to changes in motor parameters and load fluctuations, improves the robustness and adaptability of torque compensation, and can effectively improve the torque control accuracy and operation stability of the permanent magnet synchronous motor.

[0056] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a permanent magnet synchronous motor torque compensation device, etc. The following takes the permanent magnet synchronous motor torque compensation device as an example to illustrate this embodiment and the following embodiments.

[0057] Based on this, the embodiment of the present application provides a permanent magnet synchronous motor torque compensation method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the permanent magnet synchronous motor torque compensation method of the present application.

[0058] In this embodiment, the permanent magnet synchronous motor torque compensation method includes steps S10 to S40:

[0059] Step S10, acquiring motor parameters of the permanent magnet synchronous motor, and obtaining actual output torque according to the motor parameters.

[0060] It can be understood that a permanent magnet synchronous motor (PMSM) is an AC motor that uses permanent magnets to generate a magnetic field, and the rotation speed of the rotor maintains a strict proportional relationship with the power supply frequency.

[0061] It should be understood that a given torque or a required torque can be set for the permanent magnet synchronous motor, and the permanent magnet synchronous motor can operate based on the given torque, but ultimately there is a deviation between the output torque of the permanent magnet synchronous motor and the given torque.

[0062] It should be noted that the actual output torque can be calculated based on the relevant parameters of the permanent magnet synchronous motor when the motor is running, that is, the actual output torque is obtained based on the motor parameters.

[0063] In a feasible implementation, step S10 may include steps A11 to A13:

[0064] Step A11, obtaining motor parameters of the permanent magnet synchronous motor, wherein the motor parameters include current, voltage and speed signals.

[0065] It is understandable that the motor parameters of the permanent magnet synchronous motor can be obtained by direct measurement by sensors, or by relying on algorithms based on sensorless technology, such as sliding mode observer (SMO), extended Kalman filter (EKF), etc., to indirectly calculate the required information by analyzing the electrical characteristics of the motor.

[0066] It should be noted that this embodiment is explained by taking direct sensor measurement as an example. Hall effect current sensors or shunt resistors are usually used to measure the current flowing into each phase of the motor. For example, non-invasive Hall effect sensors are used to monitor the three-phase current. A voltage divider circuit or a dedicated voltage sensor is used to measure the voltage applied to the motor for voltage measurement. In order to accurately know the position and speed of the rotor, encoders, rotary transformers or Hall effect sensors are generally installed to directly obtain the speed signal of the permanent magnet synchronous motor.

[0067] In specific implementation, the current sensor adopts the Hall effect principle and can accurately measure the three-phase current of the permanent magnet synchronous motor; the voltage sensor is based on the principle of resistance voltage division or capacitance voltage division to obtain the three-phase voltage of the motor in real time; the speed sensor can use a photoelectric encoder or a rotary transformer to accurately collect the speed signal of the motor.

[0068] Step A12, performing coordinate transformation and three-phase mathematical transformation on the current, the voltage and the speed signal to obtain current components and voltage components.

[0069] It should be noted that the coordinate transformation and three-phase mathematical transformation of the current, the voltage and the speed signal to obtain the current component and the voltage component can be achieved by using coordinate transformation to convert the current and voltage signals in the three-phase stationary coordinate system (ABC coordinate system) into a rotating coordinate system (dq coordinate system), which helps to simplify the control algorithm, mainly including Clarke transformation (transformation from a three-phase to a two-phase stationary coordinate system) and Park transformation (transformation from a two-phase stationary coordinate system to a two-phase rotating coordinate system).

[0070] It can be understood that the current component and the voltage component are obtained by subjecting the current and voltage signals to coordinate transformation and Park transformation to obtain the dq axis current and voltage.

[0071] The coordinate transformation can be to transform the three-phase currents ia, ib, ic and voltages va, vb, vc into components iα, iβ and vα, vβ in the α-β coordinate system through Clarke transformation. The specific transformation formula is as follows:

[0072]

[0073] Furthermore, the signal in the α-β coordinate system is further converted to the dq coordinate system that rotates synchronously with the rotor through Park transformation, where the position angle of the rotor is θ. The specific conversion formula is as follows:

[0074]

[0075] Among them, i d ,i q represents the current component in the dq coordinate system, v d , v q Represents the voltage component in the dq coordinate system.

[0076] Step A13, obtaining the actual output torque based on the mathematical model of the permanent magnet synchronous motor, the current component and the voltage component.

[0077] It is understandable that the mathematical model of the permanent magnet synchronous motor can be a set of equations established based on electromagnetic theory, which describes the relationship between the electrical, magnetic and mechanical behaviors inside the motor. Among them, the mathematical model of the permanent magnet synchronous motor can include the voltage equation of the stator winding in the dq rotating coordinate system, the flux linkage equation that defines the relationship between magnetic flux and current in the dq coordinate system, the torque equation of the electromagnetic torque generated by the permanent magnet synchronous motor, the mechanical motion formula of the motor, etc.

[0078] It should be noted that based on the dq axis current and voltage, the mathematical model of PMSM can be used to calculate the actual output torque. The specific calculation formula can be referred to the following formula:

[0079]

[0080] Where p is the number of motor pole pairs, λ m is the flux generated by the permanent magnet, L d and L q are the d-axis and q-axis inductances, i d and i q are the d-axis and q-axis currents respectively.

[0081] In a specific implementation, the permanent magnet synchronous motor torque compensation method of this embodiment is applied to a permanent magnet synchronous motor torque compensation system, which includes a signal acquisition unit 1, a torque calculation unit 2, a deviation calculation unit 3, a fuzzy controller 4 and a torque compensation unit 5.

[0082] Among them, the signal acquisition unit 1 includes a current sensor, a voltage sensor and a speed sensor, which are used to collect the three-phase current, three-phase voltage and speed signals of the permanent magnet synchronous motor in real time, and send the collected signals to the torque calculation unit 2. The signal acquisition unit 1 is composed of a high-precision current sensor, a voltage sensor and a speed sensor. The current sensor adopts the Hall effect principle and can accurately measure the three-phase current of the permanent magnet synchronous motor; the voltage sensor is based on the principle of resistance voltage division or capacitance voltage division to obtain the three-phase voltage of the motor in real time; the speed sensor can use a photoelectric encoder or a rotary transformer to accurately collect the speed signal of the motor. These sensors convert the collected analog signals into digital signals and transmit them to the torque calculation unit 2 through a high-speed data bus. The torque calculation unit 2 is used to receive the signal sent by the signal acquisition unit 1, and obtain the dq axis current and voltage by coordinate transformation and Park transformation of the current and voltage signals, and then calculate the actual output torque of the motor according to the mathematical model of the motor, and send the actual output torque to the deviation calculation unit 3. The torque calculation unit 2 includes a high-performance microprocessor and a dedicated digital signal processing chip. After receiving the digital signal from the signal acquisition unit 1, coordinate transformation is first performed to convert the three-phase current and voltage into the dq axis coordinate system. Then, the actual output torque of the motor is accurately calculated by using the motor mathematical model and parameters pre-stored in the internal memory, combined with algorithms such as Park transformation, and the calculation result is transmitted to the deviation calculation unit 3 through the internal communication protocol.

[0083] In this embodiment, accurate current, voltage and speed signals are obtained, and the current component and voltage component of the dq axis are obtained through coordinate transformation. Then, a more accurate actual output torque is calculated based on the mathematical model of the motor, thereby improving the accuracy of motor torque compensation.

[0084] The above are only feasible implementations of step S10 provided in this embodiment, and this embodiment does not specifically limit the specific implementation of step S10.

[0085] Step S20: obtaining a torque deviation according to a reference torque and an actual output torque of the permanent magnet synchronous motor.

[0086] It is understandable that the reference torque can be the desired output torque. The reference torque is usually a pre-set value based on application requirements. For example, in an electric vehicle, it may come from the position signal of the accelerator pedal. In some cases, the reference torque may be dynamically adjusted as external conditions change, such as when the load changes.

[0087] It should be noted that the torque deviation may be obtained by subtracting the reference torque from the reference torque.

[0088] In a specific implementation, the deviation calculation unit 3 of the permanent magnet synchronous motor torque compensation system is used to receive the actual output torque and the given torque sent by the torque calculation unit 2, calculate the deviation between the two, and send the torque deviation to the fuzzy controller 4. The deviation calculation unit 3 is mainly composed of a comparator and an arithmetic logic unit. The actual output torque and the externally given torque setting value are received from the torque calculation unit 2, and the torque deviation is obtained by subtraction. After the data format conversion and preprocessing, the deviation data is quickly sent to the fuzzy controller 4.

[0089] Step S30, performing fuzzy processing on the torque deviation to obtain a torque compensation value, and performing torque compensation on the permanent magnet synchronous motor based on the torque compensation value.

[0090] It should be noted that in this embodiment, the motor torque compensation can be based on the resolver phase error correction to obtain the torque compensation value, and the permanent magnet synchronous motor is torque compensated based on the torque compensation value. The torque compensation process based on the resolver phase error correction can be referred to Figure 2 , Figure 2 The current, voltage and speed signals of the permanent magnet synchronous motor are collected in real time; the actual output torque of the motor is calculated based on the collected current, voltage and speed signals; the torque deviation is calculated based on the given torque and actual output torque of the motor; the torque deviation is processed by a fuzzy controller to obtain a torque compensation value; the torque compensation value is superimposed on the given torque of the motor to achieve torque compensation.

[0091] In a specific implementation, the given torque of the motor is subtracted from the actual output torque to obtain a torque deviation, which is then input into a fuzzy controller. The fuzzy controller performs fuzzification, fuzzy reasoning and defuzzification on the torque deviation according to preset fuzzy rules to obtain a torque compensation value, which is then superimposed on the given torque of the motor to obtain a corrected given torque, which is then input into the motor controller to achieve torque compensation.

[0092] In a specific implementation, the structural schematic diagram of the resolver phase error correction device based on the permanent magnet synchronous motor torque compensation system can be referred to Figure 3 In the figure, the vehicle control unit sends a torque command and inputs a reference command to the electric drive control system, and sends the three-phase current, three-phase voltage and speed position signal of the electric drive control system to the signal acquisition unit 1, through the torque calculation module 2, the deviation calculation module 3, the fuzzy controller 4, and the compensation module 5, and finally adjusts the torque command based on the torque compensation value calculated by the compensation module to complete the compensation of the permanent magnet synchronous motor torque.

[0093] Further, in this embodiment, the fuzzy controller 4 of the permanent magnet synchronous motor torque compensation system is used to receive the torque deviation sent by the deviation calculation unit 3, perform fuzzification, fuzzy reasoning and defuzzification on the torque deviation according to the preset fuzzy rules, obtain the torque compensation value, and send the torque compensation value to the compensation unit 5. The core of the fuzzy controller 4 is a control chip based on the fuzzy logic algorithm. It includes an input interface, a fuzzification unit, a fuzzy reasoning engine, a rule base, a defuzzification unit and an output interface. The torque deviation is used as an input quantity, which is converted into a control fuzzy quantity by the fuzzification unit. The fuzzy reasoning engine performs reasoning operations according to the fuzzy rules in the rule base to obtain a fuzzy control output. The defuzzification unit converts the fuzzy control output into an accurate control parameter value and transmits it to the compensation unit 5 through the output interface. The compensation unit 5 is used to receive the control parameter value sent by the fuzzy controller 4, calculate the torque compensation value, superimpose the torque compensation value on the given torque of the motor, obtain the corrected given torque, and input it into the motor controller, thereby realizing accurate compensation of the torque of the permanent magnet synchronous motor.

[0094] The present embodiment provides a permanent magnet synchronous motor torque compensation method, which obtains a torque compensation value for the current torque through fuzzy processing of the torque deviation, and obtains the control torque of the permanent magnet motor based on the torque compensation value and the current torque. It does not require precise motor model parameters, can adapt to changes in motor parameters and load fluctuations, improves the robustness and adaptability of torque compensation, and can effectively improve the torque control accuracy and operating stability of the permanent magnet synchronous motor.

[0095] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 4 , step S30, the permanent magnet synchronous motor torque compensation method further includes steps S31 to S33:

[0096] Step S31, performing fuzzy processing on the torque deviation to obtain a torque compensation value.

[0097] It is understandable that the fuzzy processing method for torque deviation can be to process the input and output data through a fuzzy controller with set fuzzy rules, wherein the fuzzy controller is a control method based on fuzzy logic, which can handle nonlinear, time-varying and complex systems.

[0098] It should be understood that the input of the fuzzy controller is the torque deviation and the torque deviation change rate, and the output is the torque compensation value.

[0099] In a feasible implementation, step S31 may include steps A311 to A313:

[0100] Step A311, fuzzifying the torque deviation to obtain a control fuzzy value.

[0101] It should be understood that before fuzzifying the torque deviation, a fuzzy set can be set for the torque deviation. After fuzzification, the control fuzzy quantity of the input quantity is obtained. For example, if the torque deviation is between 0-5, the fuzzy set is a "positive small" fuzzy set, and "positive small" is the control fuzzy quantity of the torque deviation.

[0102] It should be understood that in this embodiment, the torque deviation and the torque deviation change rate are used as input quantities, and corresponding fuzzy sets can be set for the torque deviation and the torque deviation change rate, respectively, such as a "positive small" fuzzy set for a torque deviation between 0-5, a "negative small" fuzzy set for a torque deviation between -5-0, and a "positive small" fuzzy set for a torque deviation change rate between 0.1-0.2.

[0103] It should be noted that the fuzzy range of the so-called "positive small" fuzzy set can be determined based on expert knowledge or experimental data.

[0104] It should be emphasized that the fuzzification of the torque deviation to obtain the control fuzzy quantity includes: obtaining a preset domain of the torque deviation; constructing a torque deviation membership function curve according to the preset domain; and fuzzifying the torque deviation according to the torque deviation membership function curve to obtain the control fuzzy quantity.

[0105] It can be understood that the preset domain is a range of deviation degrees preset according to the value of the torque deviation.

[0106] In the specific implementation, the observed quantity and the controlled quantity (i.e., the input value and the output value) are selected, the torque deviation e and the first-order derivative of the torque deviation ec are selected as the input of the fuzzy controller, e=ΔT (the difference between the target torque Te and the current calculated torque Tc) is selected as the observed quantity, and the defuzzified output of the fuzzy controller is ΔTc. The electric drive system torque input T=Te+ΔTc is selected as the controlled quantity. For the fuzzification of the input and output quantities, the domains of e and ec are taken as [-3, +3] and [-12, +12] respectively. The fuzzy subsets are defined: positive large (PB), positive middle (PM), positive small (PS), zero (Z), negative small (NS), negative middle (NM), negative large (NB), and the left-right symmetrical triangular membership function curve is obtained according to its actual value.

[0107] Step A312, performing fuzzy inference according to the control fuzzy quantity to obtain inference parameters.

[0108] It should be understood that fuzzy reasoning of the control fuzzy quantity can be performed based on fuzzy rules, wherein the fuzzy rules are pre-set, and when the control fuzzy quantity is a certain standard, there is a corresponding fuzzy control output. For example, the preset rules can be set, if the control fuzzy quantity is positive small, then the reasoning parameter is positive large.

[0109] It should be noted that in this embodiment, fuzzy reasoning is performed with two fuzzy control quantities, namely, torque deviation and torque deviation change rate, and the corresponding fuzzy rules are more complex. For example, if the error E is "negatively large" and the error change rate ΔE is "negatively small", the output should be "positively large". If the error E is "positively small" and the error change rate ΔE is "positively large", the output should be "negatively small".

[0110] Step A313, defuzzifying the inference parameters to obtain a torque compensation value.

[0111] It should be noted that the defuzzification of the inference parameters to obtain the torque compensation value includes: obtaining the activation strength of each fuzzy rule according to the inference parameters; obtaining the rule weight of each fuzzy rule based on the activation strength; and obtaining the torque compensation value according to the rule weight.

[0112] It should be noted that the activation strength of each fuzzy rule obtained according to the control fuzzy quantity can be determined by taking the minimum membership of all preconditions (i.e., the IF part). For example, if the preconditions of a rule are "the error E is negative and large" and "the error change rate ΔE is positive and small", then the activation strength of this rule is the smaller value of the two memberships.

[0113] It should be further explained that, to obtain the rule weight of each fuzzy rule based on the activation strength, the activation strength of each rule can be normalized first. Specifically, the activation strength of each rule can be divided by the sum of the activation strengths of all rules; and then the activation strength of each rule is used as the weight of the rule.

[0114] It should be noted that the fuzzy control output obtained according to the rule weight and the activation strength may be synthesized by weighted averaging to obtain the final fuzzy control output.

[0115] In this embodiment, the fuzzy rules are in the form of "if-then", and the i-th fuzzy rule R i It can be expressed as: Ri: if e is Ai and ec is Bi, then kni is Kni. Among them, Ai, Bi, Kni represent the fuzzy subsets of the torque error e, the torque error derivative ec and the control parameter values ​​kpi, kii, kdi after fuzzification.

[0116] Furthermore, the formulation of fuzzy rules needs to comprehensively consider the adjustments that KPI, KII, and KDI should make to the input signal when the input signal changes. Combined with the engineering adjustment experience, it can be concluded that:

[0117] a. When the torque is too small, kpi should be appropriately increased, kii and kdi should remain unchanged, and vice versa.

[0118] b. When the integral of the torque error is too large, kii should be appropriately increased, kpi should be reduced, and kdi should remain unchanged, and vice versa.

[0119] c. When the input error and the error change rate are both moderate, KDI should be kept unchanged and KPI and KII should be appropriately reduced.

[0120] Based on this, the fuzzy rule tables of KPI, KII, and KDI are as follows, where KP, KI, and KD each have 49 fuzzy rules, and the fuzzy membership table corresponding to the deviation E is as follows in Table 1:

[0121] Table 1

[0122]

[0123] Furthermore, the fuzzy reasoning adopts the traditional Mamdani algorithm, and the weight pi of the i-th fuzzy rule Ri in the entire fuzzy control system is as follows:

[0124] p i =min[μ Ai (e),μ Bi (ec)]

[0125] By taking the small operator to perform fuzzy reasoning calculation, the decision of the i-th control rule can be obtained as follows:

[0126]

[0127] Among them, μAi, μBi, μKni are the membership functions of fuzzy variables e, ec and control parameter values ​​kpi, kii, kdi. The defuzzification algorithm adopts the widely used average weighted method.

[0128] It should be emphasized that the output of the designed fuzzy controller is the deviation value of the parameter Δkpi, Δkii, Δkdi. After defuzzification, the system control parameter value needs to be corrected. The correction method can refer to the following formula:

[0129]

[0130] It should be further emphasized that the compensation torque value output after defuzzification is:

[0131]

[0132] In this embodiment, the torque deviation is processed by the fuzzy controller, which can better adapt to the nonlinearity and uncertainty of the system. The torque deviation is analyzed and compensated by the fuzzy controller, so that the motor output can be adjusted more accurately so that the actual torque is closer to the expected value. The fuzzy controller can quickly respond to changes in the system and adjust the torque compensation value in real time, thereby improving the dynamic performance of the system.

[0133] The above are only feasible implementations of step S31 provided in this embodiment, and this embodiment does not specifically limit the specific implementation of step S31.

[0134] Step S32: correcting the reference torque based on the torque compensation value to obtain a target torque.

[0135] It can be understood that the target torque can be obtained by adding the torque compensation value to the reference torque.

[0136] Step S33: controlling the operation of the permanent magnet synchronous motor based on the target torque to achieve torque compensation for the permanent magnet synchronous motor.

[0137] It is understandable that the reference torque controls the operation of the permanent magnet synchronous motor, and the output torque is different from the reference torque. The target torque after torque compensation controls the operation of the permanent magnet synchronous motor, and the output torque obtained can be closer to the desired torque value.

[0138] This embodiment provides a permanent magnet synchronous motor torque compensation method, which processes the torque deviation through a fuzzy controller, and the calculated torque compensation value is added to the original reference torque to obtain a corrected target torque, thereby ensuring that the actual output of the motor is closer to the expected value, accurately controlling the torque output, avoiding unnecessary energy loss, and improving the overall energy efficiency ratio, thereby achieving effective torque control of the permanent magnet synchronous motor, which not only improves the control accuracy and response speed, but also enhances the robustness and stability of the system.

[0139] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the permanent magnet synchronous motor torque compensation method of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0140] The present application also provides a permanent magnet synchronous motor torque compensation device, please refer to Figure 5 , the permanent magnet synchronous motor torque compensation device comprises:

[0141] A parameter acquisition module 10 is used to acquire motor parameters of the permanent magnet synchronous motor and obtain actual output torque according to the motor parameters;

[0142] A torque deviation calculation module 20, used to obtain a torque deviation according to a reference torque and an actual output torque of the permanent magnet synchronous motor;

[0143] The torque compensation module 30 is used to perform fuzzy processing on the torque deviation to obtain a torque compensation value, and perform torque compensation on the permanent magnet synchronous motor based on the torque compensation value.

[0144] The permanent magnet synchronous motor torque compensation device provided by the present application adopts the permanent magnet synchronous motor torque compensation method in the above embodiment, which can solve the technical problem that the output torque of the motor often deviates due to changes in external factors, affecting the control accuracy and operation stability of the motor. Compared with the prior art, the beneficial effects of the permanent magnet synchronous motor torque compensation device provided by the present application are the same as the beneficial effects of the permanent magnet synchronous motor torque compensation method provided by the above embodiment, and the other technical features of the permanent magnet synchronous motor torque compensation device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0145] The present application provides a permanent magnet synchronous motor torque compensation device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the permanent magnet synchronous motor torque compensation method in the above-mentioned embodiment one.

[0146] Reference below Figure 6 , which shows a schematic diagram of the structure of a permanent magnet synchronous motor torque compensation device suitable for implementing the embodiment of the present application. The permanent magnet synchronous motor torque compensation device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The permanent magnet synchronous motor torque compensation device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0147] like Figure 6As shown, the permanent magnet synchronous motor torque compensation device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM: ReadOnly Memory) 1002 or the program loaded from the storage device 1003 to the random access memory (RAM: RandomAccess Memory) 1004. In RAM1004, various programs and data required for the operation of the permanent magnet synchronous motor torque compensation device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the permanent magnet synchronous motor torque compensation device to communicate with other devices wirelessly or by wire to exchange data. Although the permanent magnet synchronous motor torque compensation device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0148] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0149] The permanent magnet synchronous motor torque compensation device provided by the present application adopts the permanent magnet synchronous motor torque compensation method in the above embodiment, which can solve the technical problem that the output torque of the motor often deviates due to changes in external factors, affecting the control accuracy and operation stability of the motor. Compared with the prior art, the beneficial effects of the permanent magnet synchronous motor torque compensation device provided by the present application are the same as the beneficial effects of the permanent magnet synchronous motor torque compensation method provided by the above embodiment, and the other technical features of the permanent magnet synchronous motor torque compensation device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0150] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0151] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0152] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the permanent magnet synchronous motor torque compensation method in the above-mentioned embodiment.

[0153] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0154] The computer-readable storage medium may be included in the permanent magnet synchronous motor torque compensation device; or may exist independently without being assembled into the permanent magnet synchronous motor torque compensation device.

[0155] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the permanent magnet synchronous motor torque compensation device, the permanent magnet synchronous motor torque compensation device: obtains the motor parameters of the permanent magnet synchronous motor, and obtains the actual output torque according to the motor parameters; obtains the torque deviation according to the reference torque and the actual output torque of the permanent magnet synchronous motor; performs fuzzy processing on the torque deviation to obtain the torque compensation value, and performs torque compensation on the permanent magnet synchronous motor based on the torque compensation value.

[0156] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0157] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0158] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0159] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned permanent magnet synchronous motor torque compensation method, and can solve the technical problem that the output torque of the motor often deviates due to changes in external factors, affecting the control accuracy and operation stability of the motor. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the permanent magnet synchronous motor torque compensation method provided in the above-mentioned embodiment, and will not be repeated here.

[0160] The present application also provides a computer program product, including a computer program, which implements the steps of the permanent magnet synchronous motor torque compensation method as described above when the computer program is executed by a processor.

[0161] The computer program product provided by the present application can solve the technical problem that the output torque of the motor often deviates due to changes in external factors, affecting the control accuracy and operation stability of the motor. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the permanent magnet synchronous motor torque compensation method provided by the above embodiment, and will not be repeated here.

[0162] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A permanent magnet synchronous motor torque compensation method, characterized in that: The permanent magnet synchronous motor torque compensation method comprises: Acquire motor parameters of the permanent magnet synchronous motor, and obtain actual output torque according to the motor parameters; Obtaining a torque deviation according to a reference torque and an actual output torque of the permanent magnet synchronous motor; The torque deviation is fuzzy processed to obtain a torque compensation value, and torque compensation is performed on the permanent magnet synchronous motor based on the torque compensation value.

2. The permanent magnet synchronous motor torque compensation method according to claim 1, characterized in that: The fuzzy processing is performed on the torque deviation to obtain a torque compensation value, and the torque compensation is performed on the permanent magnet synchronous motor based on the torque compensation value, including: Perform fuzzy processing on the torque deviation to obtain the torque compensation value; Correcting the reference torque based on the torque compensation value to obtain a target torque; The operation of the permanent magnet synchronous motor is controlled based on the target torque to achieve torque compensation for the permanent magnet synchronous motor.

3. The permanent magnet synchronous motor torque compensation method according to claim 2, characterized in that: The fuzzy processing of the torque deviation to obtain the torque compensation value includes: Fuzzifying the torque deviation to obtain a control fuzzy amount; Perform fuzzy reasoning according to the control fuzzy quantity to obtain reasoning parameters; The inference parameter is defuzzified to obtain a torque compensation value.

4. The permanent magnet synchronous motor torque compensation method according to claim 3, characterized in that: The fuzzifying the torque deviation to obtain a control fuzzy value includes: Get the preset domain of torque deviation; Constructing a torque deviation membership function curve according to the preset domain; The torque deviation is fuzzified according to the torque deviation membership function curve to obtain a control fuzzy amount.

5. The permanent magnet synchronous motor torque compensation method according to claim 3, characterized in that: The defuzzifying the inference parameter to obtain the torque compensation value includes: Obtaining the activation strength of each fuzzy rule according to the inference parameters; Obtaining a rule weight of each fuzzy rule based on the activation strength; A torque compensation value is obtained according to the rule weight.

6. The permanent magnet synchronous motor torque compensation method according to claim 3, characterized in that: The step of obtaining the torque compensation value according to the rule weight comprises: The rule weights are averaged and weighted to obtain a torque compensation value.

7. The permanent magnet synchronous motor torque compensation method according to claim 1, characterized in that: The step of acquiring motor parameters of the permanent magnet synchronous motor and obtaining the actual output torque according to the motor parameters includes: Acquire motor parameters of the permanent magnet synchronous motor, wherein the motor parameters include current, voltage and speed signals; Performing coordinate transformation and three-phase mathematical transformation on the current, the voltage and the speed signal to obtain a current component and a voltage component; The actual output torque is obtained based on the mathematical model of the permanent magnet synchronous motor, the current component and the voltage component.

8. A permanent magnet synchronous motor torque compensation device, characterized in that: The permanent magnet synchronous motor torque compensation device comprises: A parameter acquisition module, used to acquire motor parameters of the permanent magnet synchronous motor, and obtain actual output torque according to the motor parameters; A torque deviation calculation module, used to obtain a torque deviation according to a reference torque and an actual output torque of the permanent magnet synchronous motor; The torque compensation module is used to perform fuzzy processing on the torque deviation to obtain a torque compensation value, and perform torque compensation on the permanent magnet synchronous motor based on the torque compensation value.

9. A permanent magnet synchronous motor torque compensation device, characterized in that: The device comprises: a memory, a processor, and a permanent magnet synchronous motor torque compensation program stored in the memory and executable on the processor, wherein the permanent magnet synchronous motor torque compensation program is configured to implement the permanent magnet synchronous motor torque compensation method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores a permanent magnet synchronous motor torque compensation program, and when the permanent magnet synchronous motor torque compensation program is executed by the processor, the permanent magnet synchronous motor torque compensation method according to any one of claims 1 to 7 is implemented.

Images