Inductance identification method and device of permanent magnet synchronous motor, electronic equipment and medium

Abstract

The invention relates to the technical field of inductance identification of a synchronous motor, particularly provides an inductance identification method and device of a permanent magnet synchronous motor, electronic equipment and a medium, and aims to solve the problems of unstable precision and complex signal extraction when an existing high-frequency injection method is used for inductance identification. In order to achieve the purpose, a high-frequency rotating voltage signal with the amplitude being Uh and the frequency being omegah is injected into the permanent magnet synchronous motor; after the injection of the high-frequency rotation voltage signal is completed, obtaining a high-frequency response current signal of the permanent magnet synchronous motor; modulating the high-frequency response current signal to obtain a modulated current signal; and obtaining the inductance of the permanent magnet synchronous motor based on the amplitude Uh, the frequency omegah and the modulation current signal. Through the arrangement, the inductance identification precision can be improved, meanwhile, the signal extraction process is simplified, and the use experience of a user is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of synchronous motor inductance identification, and specifically provides an inductance identification method, device, electronic equipment and medium for a permanent magnet synchronous motor. Background Art

[0002] Permanent Magnet Synchronous Motor (PMSM) has been widely used in industrial transmission and new energy vehicles due to its simple structure, reliable operation, small size, low loss, energy saving, high power factor and other advantages. When identifying the inductance of a permanent magnet synchronous motor, the existing technology mostly uses the high-frequency injection method to identify the inductance of the synchronous motor. However, the traditional high-frequency injection method has the disadvantages of unstable accuracy and complex signal extraction when identifying the inductance, which affects the user experience.

[0003] Accordingly, the art needs a new inductance identification method for permanent magnet synchronous motor to solve the above problems. Summary of the invention

[0004] The present invention aims to solve the above technical problem, that is, to solve the problem of unstable accuracy and complex signal extraction when using the existing high-frequency injection method to perform inductance identification.

[0005] In order to achieve the above object, in a first aspect, the present invention provides an inductance identification method for a permanent magnet synchronous motor, the method comprising the following steps:

[0006] The permanent magnet synchronous motor is injected with an amplitude of U h , the frequency is ω h High-frequency rotating voltage signal;

[0007] After the injection of the high-frequency rotating voltage signal is completed, obtaining the high-frequency response current signal of the permanent magnet synchronous motor;

[0008] Modulating the high frequency response current signal to obtain a modulated current signal;

[0009] Based on the amplitude U h , the frequency ω h and the modulated current signal to obtain the inductance of the permanent magnet synchronous motor.

[0010] In the optional technical solution of the above-mentioned permanent magnet synchronous motor inductance identification method, the permanent magnet synchronous motor includes a stator three-phase winding, and "injecting an amplitude of U into the permanent magnet synchronous motor h , the frequency is ω h The steps of "high frequency rotating voltage signal" include:

[0011] The amplitude of U is injected into the stator three-phase winding h , the frequency is ω h High frequency rotating voltage signal.

[0012] In the optional technical solution of the above-mentioned method for identifying the inductance of the permanent magnet synchronous motor, the step of “obtaining the high-frequency response current signal of the permanent magnet synchronous motor” includes:

[0013] Acquire a three-phase winding response current signal based on the high-frequency rotating voltage signal;

[0014] Performing coordinate transformation on the three-phase winding response current signal to obtain a response current signal of a two-phase stationary coordinate system;

[0015] The response current signal of the two-phase stationary coordinate system is band-pass filtered to obtain a high-frequency response current signal i αh 、i βh .

[0016] In the optional technical solution of the above-mentioned method for identifying the inductance of the permanent magnet synchronous motor, the step of “modulating the high-frequency response current signal to obtain a modulated current signal” includes:

[0017] The high frequency response current signal i αh 、i βh The modulation signal is the high frequency response current signal i αh 、i βh Modulation processing is performed to obtain the modulated current signal.

[0018] In the optional technical solution of the above-mentioned permanent magnet synchronous motor inductance identification method, "using the high frequency response current signal i αh 、i βh The modulation signal is the high frequency response current signal i αh 、i βh The step of performing modulation processing to obtain the modulated current signal includes:

[0019] The high frequency response current signal i βh The modulation signal is the high frequency response current signal i αh Modulation is performed to obtain a first modulation current signal i αh ×i βh ;

[0020] The high frequency response current signal i αh The modulation signal is the high frequency response current signal i αh Modulate to obtain the second modulation signal i αh ×i αh ;

[0021] The high frequency response current signal i βh The modulation signal is the high frequency response current signal i βh Modulation is performed to obtain a third modulation current signal i βh ×i βh .

[0022] In the optional technical solution of the above-mentioned method for identifying the inductance of the permanent magnet synchronous motor, “based on the amplitude U h , the frequency ω h and the modulated current signal to obtain the inductance of the permanent magnet synchronous motor” comprises:

[0023] Based on the first modulation current signal i αh ×i βh , the second modulation current signal i αh ×i αh And the third modulation current signal i βh ×i βh , obtain the first low-pass current signal i αβ , the second low-pass current signal i β-α and the third low-pass current signal i β+α ;

[0024] Based on the first low-pass current signal i αβ And the second low-pass current signal i β-α , obtain the fourth low-pass current signal i sqrt ;

[0025] Based on the amplitude U h , the frequency ω h , the third low-pass current signal i β+α And the fourth low-pass current signal i sqrt Obtain the direct-axis inductance L of the permanent magnet synchronous motor d And the quadrature axis inductance L q .

[0026] In the optional technical solution of the above-mentioned permanent magnet synchronous motor inductance identification method, “based on the first modulation current signal i αh ×i βh , the second modulation current signal i αh ×i αh And the third modulation current signal i βh ×i βh , obtain the first low-pass current signal i αβ , the second low-pass current signal i β-α and the third low-pass current signal i β+α The steps include:

[0027] The first modulation current signal i αh ×i βh Perform low-pass filtering to obtain the first low-pass current signal i αβ ;

[0028] Obtain the third modulation current signal i βh ×i βh The second modulation current signal i αh ×i αh and performing low-pass filtering on the current signal difference to obtain the second low-pass current signal i β-α ;

[0029] Obtain the third modulation current signal i βh ×i βh The second modulation current signal i αh ×i αh and performing low-pass filtering on the current signals and to obtain the third low-pass current signal i β+α .

[0030] In a second aspect, the present invention further provides an inductance identification device for a permanent magnet synchronous motor, the device comprising:

[0031] The voltage injection module is configured to inject a voltage with an amplitude of U into the permanent magnet synchronous motor. h , the frequency is ω h High-frequency rotating voltage signal;

[0032] A current acquisition module is configured to acquire a high-frequency response current signal of the permanent magnet synchronous motor after completing the injection of the high-frequency rotating voltage signal;

[0033] A current modulation module is configured to modulate the high frequency response current signal to obtain a modulated current signal;

[0034] The inductance acquisition module is configured to h , the frequency ω h and the modulated current signal to obtain the inductance of the permanent magnet synchronous motor.

[0035] In a third aspect, the present invention further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the inductance identification method of the permanent magnet synchronous motor as described in any one of the above is implemented.

[0036] In a fourth aspect, the present invention further provides a readable storage medium, wherein a plurality of program codes are stored in the readable storage medium, and the program codes are suitable for being loaded and run by a processor to execute any one of the above-mentioned methods for identifying the inductance of a permanent magnet synchronous motor.

[0037] It can be understood by those skilled in the art that in the technical solution of the present invention, by injecting a voltage with an amplitude of U into the permanent magnet synchronous motor, h , the frequency is ω h high-frequency rotating voltage signal; after the injection of the high-frequency rotating voltage signal is completed, the high-frequency response current signal of the permanent magnet synchronous motor is obtained; the high-frequency response current signal is modulated to obtain a modulated current signal; based on the amplitude U h , frequency ω h And modulate the current signal to obtain the inductance of the permanent magnet synchronous motor. This setting can improve the accuracy of inductance identification, simplify the signal extraction process, and improve the user experience.

[0038] Furthermore, “responding to the current signal i with a high frequency αh 、i βh The modulation signal is the high frequency response current signal i αh 、i βh The step of performing modulation processing to obtain a modulated current signal includes: using the high frequency response current signal i βh The modulation signal is the high frequency response current signal i αh Modulation is performed to obtain a first modulation current signal i αh ×i βh ; Respond to the current signal i at high frequency αh The modulation signal is the high frequency response current signal i αh Modulate to obtain the second modulation signal i αh ×i αh ; Respond to the current signal i at high frequency βh The modulation signal is the high frequency response current signal i βh Modulation is performed to obtain a third modulation current signal i βh ×i βh Such a setting can obtain more motor parameters by modulating the high-frequency response current signal, thereby simplifying the signal extraction process and further improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The disclosure of the present invention will become more easily understood with reference to the accompanying drawings. It is easy for those skilled in the art to understand that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present invention. In addition, similar numbers in the figures are used to represent similar components, among which:

[0040] Figure 1 is a schematic diagram of the overall architecture of an inductance identification system for a permanent magnet synchronous motor according to an embodiment of the present invention;

[0041] Figure 2 1 is a flow chart of main steps of an inductance identification method of a permanent magnet synchronous motor according to an embodiment of the present invention;

[0042] Figure 3 is a schematic flow chart of main steps of obtaining a modulated current signal according to an embodiment of the present invention;

[0043] Figure 4 is a schematic flow chart of main steps of obtaining the inductance of a permanent magnet synchronous motor according to one embodiment of the present invention;

[0044] Figure 5 is to obtain the first low-pass current signal i according to an embodiment of the present invention. αβ , the second low-pass current signal i β-α and the third low-pass current signal i β+α Schematic diagram of the main steps of the process;

[0045] Figure 6 It is a schematic diagram of the main structural block diagram of an inductance identification device for a permanent magnet synchronous motor according to an embodiment of the present invention;

[0046] Figure 7 It is a schematic diagram of the main structural block diagram of an electronic device used to execute the inductance identification method of the permanent magnet synchronous motor of the present invention.

[0047] Reference numerals list :

[0048] 11: voltage injection module; 12: current acquisition module; 13: current modulation module; 14: inductance acquisition module. DETAILED DESCRIPTION

[0049] Some embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0050] In the description of the present invention, "module" and "processor" may include hardware, software or a combination of the two. A module may include hardware circuits, various suitable sensors, communication ports, and memories, and may also include software parts, such as program codes, or a combination of software and hardware. The processor may be a central processing unit, a microprocessor, an image processor, a digital signal processor, or any other suitable processor. The processor has data and / or signal processing functions. The processor may be implemented in software, hardware, or a combination of the two. Non-temporary computer-readable storage media include any suitable medium that can store program codes, such as a magnetic disk, a hard disk, an optical disk, a flash memory, a read-only memory, a random access memory, and the like. The term "A and / or B" means all possible combinations of A and B, such as only A, only B, or A and B. The term "at least one A or B" or "at least one of A and B" has a similar meaning to "A and / or B", and may include only A, only B, or A and B. The singular terms "one" and "the" may also include plural forms.

[0051] As described in the background technology section, in view of the problems of unstable accuracy and complex signal extraction when using the existing high-frequency injection method to perform inductance identification, the present invention provides an inductance identification method for a permanent magnet synchronous motor.

[0052] See attached Figure 1 , Figure 1 FIG. 1 is a schematic diagram of the overall architecture of an inductance identification system for a permanent magnet synchronous motor according to an embodiment of the present invention. Figure 1 As shown, in some embodiments, the IPARK module can realize the Park inverse transformation, that is, the transformation from the two-phase rotating coordinate system dq to the two-phase stationary coordinate system α-β; SVPWM (Space Vector Pulse Width Modulation) is space vector pulse width modulation; inverter is an inverter, which is a converter that converts DC power into constant frequency and constant voltage or frequency and voltage modulated AC power.

[0053] The Clarke module can realize the transformation from the three-phase stationary coordinate system abc to the two-phase stationary coordinate system α-β; the PARK module can realize the transformation from the two-phase stationary coordinate system α-β to the two-phase rotating coordinate system dq; the bandstop filter (BSF for short) refers to a filter that can pass most frequency components but attenuate certain frequency components to an extremely low level, which is opposite to the concept of bandpass filter; the bandpass filter (band-pass filter) is a device that allows waves of a specific frequency band to pass while shielding other frequency bands; Lpf (low pass filter) is a low-pass filter, which is an electronic filtering device that allows signals below the cutoff frequency to pass, but signals above the cutoff frequency cannot pass. In the application of motors, SMO (Sliding Mode Observer) is used to estimate the induced electromotive force, speed, and position of the motor.

[0054] Those skilled in the art will understand that Figure 1 The overall architecture shown in the figure does not constitute a limitation on the inductance identification system of the permanent magnet synchronous motor. In practical applications, the inductance identification system of the permanent magnet synchronous motor may include more or fewer components than those shown in the figure, or a combination of certain components, or a different arrangement of components.

[0055] Next, the inductance identification method of the permanent magnet synchronous motor according to the embodiment of the present invention is described in detail with reference to the accompanying drawings.

[0056] See attached Figure 2 , Figure 2 FIG. 1 is a flow chart showing the main steps of a method for identifying the inductance of a permanent magnet synchronous motor according to an embodiment of the present invention. Figure 2 As shown, the inductance identification method of the permanent magnet synchronous motor of the present invention comprises the following steps:

[0057] Step S101: injecting a current with an amplitude of U into the permanent magnet synchronous motor h , the frequency is ω h High frequency rotating voltage signal.

[0058] Specifically, the permanent magnet synchronous motor includes a stator three-phase winding, and an amplitude of U is injected into the permanent magnet synchronous motor. h , the frequency is ω h The high-frequency rotating voltage signal includes: injecting a high-frequency rotating voltage signal into the stator three-phase winding as well as

[0059] Step S102: After the injection of the high-frequency rotating voltage signal is completed, the high-frequency response current signal of the permanent magnet synchronous motor is obtained.

[0060] In some embodiments, obtaining the high frequency response current signal of the permanent magnet synchronous motor includes the following steps:

[0061] Step S201: obtaining a three-phase winding response current signal based on a high-frequency rotating voltage signal.

[0062] Step S202: performing coordinate transformation on the three-phase winding response current signal to obtain a response current signal of a two-phase stationary coordinate system.

[0063] Step S203: Bandpass filter the response current signal of the two-phase stationary coordinate system to obtain a high-frequency response current signal i αh 、i βh .

[0064] That is, after injecting a high-frequency rotating voltage signal into the permanent magnet synchronous motor, six switching signals of the three-phase inverter are obtained through space vector pulse width modulation, thereby driving the built-in permanent magnet synchronous motor; at least two-phase currents in the three-phase winding of the built-in permanent magnet synchronous motor are detected to obtain the three-phase winding response current signal i a 、i b and c ; The three-phase winding responds to the current signal i a 、i b and c Perform Clarke transformation to obtain the response current signal i in the α-β coordinate system α and β ; The response current signal i in the α-β coordinate system α and β Through the bandpass filter, to obtain the high frequency response current signal i αh 、i βh .

[0065] The high-frequency response current signal i is obtained by formula derivation αh 、i βh Specifically, the amplitude of U is injected into the three-phase winding of the stator of the permanent magnet synchronous motor. h , the frequency is ω h The high-frequency rotating voltage signal is:

[0066]

[0067] Where t is time.

[0068] Because the frequency ω of the high-frequency rotating voltage signal h The frequency is greater than the fundamental frequency, and the permanent magnet synchronous motor is in a stationary state when the high-frequency rotating voltage signal is injected. Therefore, the high-frequency mathematical model of the permanent magnet synchronous motor in the dq axis rotating coordinate system can be expressed as:

[0069]

[0070] Among them, L d , L q are the inductance of the direct axis and quadrature axis of the permanent magnet synchronous motor respectively, as well as They are the high-frequency rotating voltage signals of the dq axis coordinate system, as well as are the high frequency response current given values ​​of the dq axis coordinate system respectively, and p is the differential operator.

[0071] The conversion formula for converting the high-frequency rotating voltage signal from the stationary α-β coordinate system to the dq axis coordinate system is:

[0072]

[0073] Where θ is the rotor position angle.

[0074] Substituting equation (1) and equation (2) into equation (3), we can obtain:

[0075]

[0076] Based on formula (4), we can get:

[0077]

[0078] Among them, ω r is the angular frequency of the permanent magnet synchronous motor rotor.

[0079] The high frequency response current given value of the dq axis coordinate system is transformed back to the stationary α-β coordinate system, and the average inductance L0 = (L d +L q ) / 2, semi-differential inductance L1=(L d -L q ) / 2 and ω r =0 Substituting into formula (5), we can get:

[0080]

[0081] Then the high-frequency response current signal i can be obtained through the bandpass filter. αh 、i βh They are:

[0082]

[0083] Step S103: performing modulation processing on the high frequency response current signal to obtain a modulated current signal.

[0084] In some embodiments, performing a modulation process on the high frequency response current signal to obtain a modulated current signal includes: αh 、i βh The modulation signal is the high frequency response current signal i αh 、i βh Modulation processing is performed to obtain a modulated current signal. Specifically, the high-frequency response current signal is modulated by using the high-frequency response current as the modulation signal, that is, the high-frequency currents modulate each other, and then the signal is modulated by changing the amplitude, phase or frequency of the high-frequency response current signal.

[0085] Step S104: Based on the amplitude U h , frequency ω h And modulate the current signal to obtain the inductance of the permanent magnet synchronous motor.

[0086] Based on the above steps S101 to S104, in the technical solution of the present invention, a current with an amplitude of U is injected into the permanent magnet synchronous motor. h , the frequency is ω h high-frequency rotating voltage signal; after the injection of the high-frequency rotating voltage signal is completed, the high-frequency response current signal of the permanent magnet synchronous motor is obtained; the high-frequency response current signal is modulated to obtain a modulated current signal; based on the amplitude U h , frequency ω h And modulate the current signal to obtain the inductance of the permanent magnet synchronous motor. This setting can improve the accuracy of inductance identification, simplify the signal extraction process, and improve the user experience.

[0087] See attached Figure 3 , Figure 3 FIG. 1 is a schematic diagram of the main steps of obtaining a modulation current signal according to an embodiment of the present invention. Figure 3 As shown, in some embodiments, the high frequency response current signal i αh 、i βh The modulation signal is the high frequency response current signal i αh 、i βh Performing modulation processing to obtain a modulated current signal includes the following steps:

[0088] Step S301: Responding to the current signal i with a high frequency βh The modulation signal is the high frequency response current signal i αh Modulation is performed to obtain a first modulation current signal i αh ×i βh .

[0089] Step S302: Responding to the current signal i with a high frequency αh The modulation signal is the high frequency response current signal i αhModulate to obtain the second modulation signal i αh ×i αh .

[0090] Step S303: Responding to the current signal i with a high frequency βh The modulation signal is the high frequency response current signal i βh Modulation is performed to obtain a third modulation current signal i βh ×i βh .

[0091] Specifically, the high frequency response current signal i βh The modulation signal is the high frequency response current signal i αh Multiply to modulate, the first modulated current signal i αh ×i βh ; Respond to the current signal i at high frequency αh The modulation signal is the high frequency response current signal i αh Multiply to modulate to obtain the second modulation signal i αh ×i αh ; Respond to the current signal i at high frequency βh The modulation signal is the high frequency response current signal i βh Multiply to perform modulation to obtain a third modulated current signal i βh ×i βh The first modulation current signal i obtained after modulation αh ×i βh , the second modulation signal current i αh ×i αh and the third modulation current signal i βh ×i βh They are:

[0092]

[0093]

[0094]

[0095] in,

[0096] See attached Figure 4 , Figure 4 FIG. 1 is a flow chart of the main steps of obtaining the inductance of a permanent magnet synchronous motor according to an embodiment of the present invention. Figure 4 As shown, in some embodiments, based on the amplitude U h , frequency ω h And modulating the current signal to obtain the inductance of the permanent magnet synchronous motor includes the following steps:

[0097] Step S401: Based on the first modulation current signal i αh ×i βh , the second modulation current signal i αh ×i αh and the third modulation current signal i βh ×i βh , obtain the first low-pass current signal i αβ , the second low-pass current signal i β-α and the third low-pass current signal i β+α .

[0098] Step S402: Based on the first low-pass current signal i αβ and the second low-pass current signal i β-α , obtain the fourth low-pass current signal i sqrt .

[0099] Step S403: Based on the amplitude U h , frequency is ω h , the third low-pass current signal i β+α And the fourth low-pass current signal i sqrt Get the direct-axis inductance L of the permanent magnet synchronous motor d And the quadrature axis inductance L q .

[0100] Specifically, based on the first low-pass current signal i αβ , the second low-pass current signal i β-α And the formula Get the fourth low-pass current signal i sqrt ; Based on the amplitude U h , frequency ω h , the third low-pass current signal i β+α , the fourth low-pass current signal i sqrt And the following formulas are used to obtain the direct-axis inductance L of the permanent magnet synchronous motor. d And the quadrature axis inductance L q :

[0101]

[0102]

[0103] See attached Figure 5 , Figure 5 is to obtain the first low-pass current signal i according to an embodiment of the present invention. αβ , the second low-pass current signal i β-α and the third low-pass current signal i β+α Schematic diagram of the main steps of the process. Figure 5 As shown, in some embodiments, based on the first modulation current signal iαh ×i βh , the second modulation current signal i αh ×i αh and the third modulation current signal i βh ×i βh , obtain the first low-pass current signal i αβ , the second low-pass current signal i β-α and the third low-pass current signal i β+α The following steps are involved:

[0104] Step S501: Modulate the first current signal i αh ×i βh Perform low-pass filtering to obtain a first low-pass current signal i αβ .

[0105] Step S502: Obtain the third modulation current signal i βh ×i βh and the second modulation current signal i αh ×i αh and low-pass filter the current signal difference to obtain a second low-pass current signal i β-α .

[0106] Step S503: Obtain the third modulation current signal i βh ×i βh and the second modulation current signal i αh ×i αh and performs low-pass filtering on the current signals and to obtain a third low-pass current signal i β+α .

[0107] Specifically, the first modulation current signal i αh ×i βh for:

[0108]

[0109] The first modulation current signal i αh ×i βh Low-pass filtering can remove the high-frequency current signal, so the first low-pass current signal obtained is:

[0110] i αβ =-K 2 L0L1sin(2θ) (13)

[0111] The third modulation current signal i βh ×i βh for:

[0112]

[0113] The second modulation current signal i αh ×i αh for:

[0114]

[0115] The third modulation current signal i βh ×i βh Subtract the second modulation current signal i αh ×i αh , so the current signal difference is Low-pass filtering the current signal difference can remove the high-frequency current signal therein, so the second low-pass current signal obtained is:

[0116] i β-α =2K 2 L0L1cos2θ (14)

[0117] The third modulation current signal i βh ×i βh Add the second modulation current signal i αh ×i αh , so the current signal and Low-pass filtering of the current signals can remove the high-frequency current signals therein, so the third low-pass current signal obtained is:

[0118]

[0119] Based on the first low-pass current signal i αβ , the second low-pass current signal i β-α And the formula Get the fourth low-pass current signal i sqrt ; At the same time, considering the direct axis inductance L in conventional motor design d Greater than the quadrature axis inductance L q , that is, L1 is less than 0, so the fourth low-pass current signal i sqrt for:

[0120]

[0121] It should be pointed out that although the various steps in the above embodiments are described in a specific order, those skilled in the art can understand that in order to achieve the effects of the present invention, different steps do not have to be performed in such an order. They can be performed simultaneously (in parallel) or in other orders. These changes are within the scope of protection of the present invention.

[0122] Furthermore, the present invention also provides an inductance identification device for a permanent magnet synchronous motor.

[0123] See attached Figure 6 , Figure 6 FIG. 1 is a schematic diagram of the main structure of an inductance identification device for a permanent magnet synchronous motor according to an embodiment of the present invention. Figure 6 As shown, the inductance identification device of the permanent magnet synchronous motor of the present invention mainly includes a voltage injection module 11, a current acquisition module 12, a current modulation module 13 and an inductance acquisition module 14. In some embodiments, one or more of the voltage injection module 11, the current acquisition module 12, the current modulation module 13 and the inductance acquisition module 14 can be combined into one module. In some embodiments, the voltage injection module 11 can be configured to inject a current with an amplitude of U into the permanent magnet synchronous motor. h , the frequency is ω h The current acquisition module 12 can be configured to acquire the high-frequency response current signal of the permanent magnet synchronous motor after the injection of the high-frequency rotation voltage signal is completed; the current modulation module 13 can be configured to modulate the high-frequency response current signal to obtain the modulated current signal; the inductance acquisition module 14 can be configured to acquire the high-frequency response current signal based on the amplitude U h , frequency ω h And modulate the current signal to obtain the inductance of the permanent magnet synchronous motor.

[0124] In some embodiments, the voltage injection module 11 injects a voltage with an amplitude of U into the stator three-phase winding. h , the frequency is ω h High frequency rotating voltage signal.

[0125] In some embodiments, the current acquisition module 12 acquires a three-phase winding response current signal based on the high-frequency rotating voltage signal; performs coordinate transformation on the three-phase winding response current signal to acquire a response current signal of a two-phase stationary coordinate system; performs band-pass filtering on the response current signal of the two-phase stationary coordinate system to acquire a high-frequency response current signal i αh 、i βh .

[0126] In some embodiments, the current modulation module 13 responds to the current signal i with a high frequency αh 、i βh The modulation signal is the high frequency response current signal i αh 、i βh A modulation process is performed to obtain a modulated current signal.

[0127] In some embodiments, the current modulation module 13 responds to the current signal i with a high frequency βh The modulation signal is the high frequency response current signal i αh Modulation is performed to obtain a first modulation current signal i αh ×i βh ; Respond to the current signal i at high frequency αhThe modulation signal is the high frequency response current signal i αh Modulate to obtain the second modulation signal i αh ×i αh ; Respond to the current signal i at high frequency βh The modulation signal is the high frequency response current signal i βh Modulation is performed to obtain a third modulation current signal i βh ×i βh .

[0128] In some embodiments, the inductance acquisition module 14 is based on the first modulation current signal i αh ×i βh , the second modulation current signal i αh ×i αh and the third modulation current signal i βh ×i βh , obtain the first low-pass current signal i αβ , the second low-pass current signal i β-α and the third low-pass current signal i β+α Based on the first low-pass current signal i αβ and the second low-pass current signal i β-α , obtain the fourth low-pass current signal i sqrt ; Based on the amplitude U h , frequency ω h , the third low-pass current signal i β+α And the fourth low-pass current signal i sqrt Get the direct-axis inductance L of the permanent magnet synchronous motor d And the quadrature axis inductance L q .

[0129] In some embodiments, the inductance acquisition module 14 generates the first modulation current signal i αh ×i βh Perform low-pass filtering to obtain a first low-pass current signal i αβ ; Obtain the third modulation current signal i βh ×i βh and the second modulation current signal i αh ×i αh and low-pass filter the current signal difference to obtain a second low-pass current signal i β-α ; Obtain the third modulation current signal i βh ×i βh and the second modulation current signal i αh ×i αh and performs low-pass filtering on the current signals and to obtain a third low-pass current signal i β+α .

[0130] It is understood by those skilled in the art that the present invention implements all or part of the processes in the method of the above embodiment, and can also be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device, medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signal, telecommunication signal and software distribution medium that can carry the computer program code. It should be noted that the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable storage media do not include electric carrier signals and telecommunication signals.

[0131] Furthermore, the present invention also provides an electronic device.

[0132] See attached Figure 7 , Figure 7 1 is a schematic diagram of the main structure of an electronic device for executing the inductance identification method of a permanent magnet synchronous motor of the present invention. Figure 7 As shown, the present invention further provides an electronic device for executing the inductance identification method of the permanent magnet synchronous motor of the present invention, the electronic device comprising: a processor 21, a memory 22, and a computer program 23 stored in the memory 22 and executable on the processor 21. When the processor 21 executes the computer program 23, the steps in the above-mentioned various method embodiments are implemented. Alternatively, when the processor 21 executes the computer program 23, the functions of each module / unit in the above-mentioned embodiments are implemented.

[0133] Exemplarily, the processor 21 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0134] Exemplarily, the memory 22 may be an internal storage unit of the electronic device, for example, a hard disk or memory of the electronic device; the memory 22 may also be an external storage device of the electronic device, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device. Further, the memory 22 may also include both an internal storage unit of the electronic device and an external storage device. The memory 22 is used to store computer programs and other programs and data required by the electronic device. The memory 22 may also be used to temporarily store data that has been output or is to be output.

[0135] In some possible implementations, the electronic device may include multiple processors 21 and memories 22. The program for executing the inductance identification method of the permanent magnet synchronous motor of the above method embodiment may be divided into multiple subprograms, and each subprogram may be loaded and run by the processor 21 to execute different steps of the inductance identification method of the permanent magnet synchronous motor of the above method embodiment. Specifically, each subprogram may be stored in different memories 22, respectively, and each processor 21 may be configured to execute programs in one or more memories 22 to jointly implement the inductance identification method of the permanent magnet synchronous motor of the above method embodiment, that is, each processor 21 executes different steps of the inductance identification method of the permanent magnet synchronous motor of the above method embodiment, to jointly implement the inductance identification method of the permanent magnet synchronous motor of the above method embodiment.

[0136] The above-mentioned multiple processors 21 may be processors deployed on the same device. For example, the above-mentioned electronic device may be a high-performance device composed of multiple processors, and the above-mentioned multiple processors 21 may be processors configured on the high-performance device. In addition, the above-mentioned multiple processors 21 may also be processors deployed on different devices. For example, the above-mentioned electronic device may be a server cluster, and the above-mentioned multiple processors 21 may be processors on different servers in the server cluster.

[0001] The electronic device may be a desktop computer, a notebook, a PDA, a cloud server, etc. The electronic device may include but is not limited to a processor 21 and a memory 22. Those skilled in the art will appreciate that Figure 7 These are merely examples of electronic devices and do not constitute a limitation of the electronic device. The electronic device may include more or fewer components than those shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0137] Furthermore, the present invention also provides a computer-readable storage medium. In a computer-readable storage medium embodiment according to the present invention, the computer-readable storage medium can be configured to store a program for executing the inductance identification method of the permanent magnet synchronous motor of the above-mentioned method embodiment, and the program can be loaded and run by the processor to implement the above-mentioned inductance identification method of the permanent magnet synchronous motor. For ease of explanation, only the parts related to the embodiment of the present invention are shown. For specific technical details not disclosed, please refer to the method part of the embodiment of the present invention. The computer-readable storage medium can be a storage device formed by various electronic devices. Optionally, the computer-readable storage medium in the embodiment of the present invention is a non-temporary computer-readable storage medium.

[0138] Further, it should be understood that since the setting of each module is only for illustrating the functional units of the device of the present invention, the physical devices corresponding to these modules may be the processor itself, or a part of the software in the processor, a part of the hardware, or a part of the combination of software and hardware. Therefore, the number of each module in the figure is only schematic.

[0139] Those skilled in the art will appreciate that the modules in the device can be adaptively split or merged. Such splitting or merging of specific modules will not cause the technical solution to deviate from the principle of the present invention, and therefore, the technical solutions after splitting or merging will fall within the protection scope of the present invention.

[0140] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A method for identifying the inductance of a permanent magnet synchronous motor, characterized in that: The method comprises the following steps: The permanent magnet synchronous motor is injected with an amplitude of U h , the frequency is ω h High-frequency rotating voltage signal; After the injection of the high-frequency rotating voltage signal is completed, obtaining the high-frequency response current signal of the permanent magnet synchronous motor; Modulating the high frequency response current signal to obtain a modulated current signal; Based on the amplitude U h , the frequency ω h and the modulated current signal to obtain the inductance of the permanent magnet synchronous motor.

2. The inductance identification method of a permanent magnet synchronous motor according to claim 1, characterized in that: The permanent magnet synchronous motor comprises a stator three-phase winding, and a voltage with an amplitude of U is injected into the permanent magnet synchronous motor. h , the frequency is ω h The steps of "high frequency rotating voltage signal" include: The amplitude of U is injected into the stator three-phase winding h , the frequency is ω h High frequency rotating voltage signal.

3. The inductance identification method of a permanent magnet synchronous motor according to claim 2, characterized in that: The step of "obtaining a high-frequency response current signal of the permanent magnet synchronous motor" comprises: Acquire a three-phase winding response current signal based on the high-frequency rotating voltage signal; Performing coordinate transformation on the three-phase winding response current signal to obtain a response current signal of a two-phase stationary coordinate system; The response current signal of the two-phase stationary coordinate system is band-pass filtered to obtain a high-frequency response current signal i αh 、i βh .

4. The inductance identification method of a permanent magnet synchronous motor according to claim 3, characterized in that: The step of "modulating the high frequency response current signal to obtain a modulated current signal" includes: The high frequency response current signal i αh 、i βh The modulation signal is the high frequency response current signal i αh 、i βh Modulation processing is performed to obtain the modulated current signal.

5. The inductance identification method of a permanent magnet synchronous motor according to claim 4, characterized in that: "With the high frequency response current signal i αh 、i βh The modulation signal is the high frequency response current signal i αh 、i βh The step of performing modulation processing to obtain the modulated current signal includes: The high frequency response current signal i βh The modulation signal is the high frequency response current signal i αh Modulation is performed to obtain a first modulation current signal i αh ×i βh ; The high frequency response current signal i αh The modulation signal is the high frequency response current signal i αh Modulate to obtain the second modulation signal i αh ×i αh ; The high frequency response current signal i βh The modulation signal is the high frequency response current signal i βh Modulation is performed to obtain a third modulation current signal i βh ×i βh .

6. The inductance identification method of a permanent magnet synchronous motor according to claim 5, characterized in that: Based on the amplitude U h , the frequency ω h and the modulated current signal to obtain the inductance of the permanent magnet synchronous motor” comprises: Based on the first modulation current signal i αh ×i βh , the second modulation current signal i αh ×i αh And the third modulation current signal i βh ×i βh , obtain the first low-pass current signal i αβ , the second low-pass current signal i β-α And the third low-pass current signal i β+α ; Based on the first low-pass current signal i αβ And the second low-pass current signal i β-α , obtain the fourth low-pass current signal i sqrt ; Based on the amplitude U h , the frequency ω h , the third low-pass current signal i β+α And the fourth low-pass current signal i sqrt Obtain the direct-axis inductance L of the permanent magnet synchronous motor d And the quadrature axis inductance L q .

7. The inductance identification method of a permanent magnet synchronous motor according to claim 6, characterized in that: Based on the first modulation current signal i αh ×i βh , the second modulation current signal i αh ×i αh And the third modulation current signal i βh ×i βh , obtain the first low-pass current signal i αβ , the second low-pass current signal i β-α and the third low-pass current signal i β+α The steps include: The first modulation current signal i αh ×i βh Perform low-pass filtering to obtain the first low-pass current signal i αβ ; Obtain the third modulation current signal i βh ×i βh The second modulation current signal i αh ×i αh and performing low-pass filtering on the current signal difference to obtain the second low-pass current signal i β-α ; Obtain the third modulation current signal i βh ×i βh The second modulation current signal i αh ×i αh and the current signals and are low-pass filtered to obtain the third low-pass current signal i β+α .

8. An inductance identification device for a permanent magnet synchronous motor, characterized in that: The device comprises: The voltage injection module is configured to inject a voltage with an amplitude of U into the permanent magnet synchronous motor. h , the frequency is ω h High-frequency rotating voltage signal; A current acquisition module is configured to acquire a high-frequency response current signal of the permanent magnet synchronous motor after completing the injection of the high-frequency rotating voltage signal; A current modulation module is configured to modulate the high frequency response current signal to obtain a modulated current signal; The inductance acquisition module is configured to h , the frequency ω h and the modulated current signal to obtain the inductance of the permanent magnet synchronous motor.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the inductance identification method of the permanent magnet synchronous motor according to any one of claims 1 to 7 is implemented.

10. A readable storage medium storing a plurality of program codes, characterized in that: The program code is suitable for being loaded and run by a processor to execute the inductance identification method of a permanent magnet synchronous motor according to any one of claims 1 to 7.

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