Motor control method and system based on full-order effective flux observer

Abstract

The embodiment of the invention discloses a motor control method and system based on a full-order effective flux observer. The method comprises the steps of determining an output current and an output voltage of an inverter in a static coordinate system, and constructing a full-order effective flux linkage observer according to the output current, the output voltage and a permanent magnet synchronous motor mathematical model with a sine filter; splitting the full-order effective flux linkage observer to obtain a first effective flux linkage observer represented by a direct current axis output voltage and a direct current axis output current in a static coordinate system and a second effective flux linkage observer represented by an alternating current axis voltage and an alternating current axis current in the static coordinate system; and determining an observation current and an observation voltage according to the first effective flux observer and the second effective flux observer, and adjusting a motor control voltage according to the observation current and the observation voltage. According to the scheme, the full-order effective flux linkage observer is split, step-by-step calculation of the full-order effective flux linkage observer is achieved, the calculation time is shortened, and the calculation burden is relieved.

Description

Technical Field

[0001] The present application relates to the field of motor control, and in particular to a motor control method and system based on a full-order effective flux observer. Background Art

[0002] Permanent magnet synchronous motors have the advantages of high efficiency, high power factor and high torque density, and have good application prospects in deep oil and gas resource exploitation and other fields. In order to achieve high-performance control, when using a voltage source inverter to drive a permanent magnet synchronous motor, it is necessary to measure the rotor position, but it is difficult to install a position sensor in a deep environment, and the long-distance position signal transmission delay is large. Therefore, in the prior art, the rotor position is generally calculated by an observer.

[0003] However, when deep oil and gas resources are being exploited, the motor still needs to be powered by a voltage source inverter through a long cable. In order to prevent damage to the insulation of the inverter and the cable, a sine filter must be installed on the output side of the inverter to filter out the high-frequency signal in the output voltage. The sine filter changes the system model, increasing the order of the observer that relies on the system model to calculate the rotor position, resulting in increased calculation time and heavier calculation burden. Summary of the invention

[0004] The present application provides a motor control method and system based on a full-order effective flux observer. By splitting the full-order effective flux observer, step-by-step calculation of the full-order effective flux observer is achieved, which reduces the calculation time and alleviates the calculation burden.

[0005] According to one aspect of the present application, a motor control method based on a full-order effective flux observer is provided, the method comprising:

[0006] Determine the output current and output voltage of the inverter in a stationary coordinate system, and construct a full-order effective flux observer based on the output current, output voltage and a mathematical model of a permanent magnet synchronous motor with a sine filter;

[0007] The full-order effective flux observer is split to obtain a first effective flux observer represented by a DC axis output voltage and a DC axis output current in a stationary coordinate system and a second effective flux observer represented by an AC axis voltage and an AC axis current in a stationary coordinate system;

[0008] An observed current and an observed voltage are determined according to the first effective flux observer and the second effective flux observer, and a motor control voltage is adjusted according to the observed current and the observed voltage.

[0009] According to another aspect of the present application, a motor control system based on a full-order effective flux observer is provided, the system comprising a step-by-step calculation module, including:

[0010] An observer construction unit is used to determine the output current and output voltage of the inverter in a stationary coordinate system, and construct a full-order effective flux observer according to the output current, output voltage and a mathematical model of a permanent magnet synchronous motor with a sine filter;

[0011] An observer splitting unit is used to split the full-order effective flux observer to obtain a first effective flux observer represented by a DC axis output voltage and a DC axis output current in a stationary coordinate system and a second effective flux observer represented by an AC axis voltage and an AC axis current in a stationary coordinate system;

[0012] The observation value calculation unit is used to determine the observation current and the observation voltage according to the first effective flux observer and the second effective flux observer, and adjust the motor control voltage according to the observation current and the observation voltage.

[0013] According to another aspect of the present application, an electronic device is provided, the device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by at least one processor, and the computer program is executed by at least one processor so that the at least one processor can execute the motor control method based on the full-order effective flux observer of any embodiment of the present application.

[0017] According to another aspect of the present application, a computer-readable storage medium is provided, which stores computer instructions, and the computer instructions are used to enable a processor to implement the motor control method based on a full-order effective flux observer according to any embodiment of the present application when executed.

[0018] The technical solution of the embodiment of the present application determines the output current and output voltage of the inverter in a stationary coordinate system, and constructs a full-order effective flux observer based on the output current, output voltage and the mathematical model of the permanent magnet synchronous motor with a sine filter; the full-order effective flux observer is split to obtain a first effective flux observer represented by the DC axis output voltage and the DC axis output current in the stationary coordinate system and a second effective flux observer represented by the AC axis voltage and the AC axis current in the stationary coordinate system; the observation current and the observation voltage are determined based on the first effective flux observer and the second effective flux observer, and the motor control voltage is adjusted based on the observation current and the observation voltage. The technical solution of the embodiment of the present application realizes the step-by-step calculation of the full-order effective flux observer by splitting the full-order effective flux observer, which reduces the calculation time and alleviates the calculation burden.

[0019] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a flow chart of a motor control method based on a full-order effective flux observer provided according to the first embodiment of the present application;

[0022] Figure 2 It is a schematic diagram of a permanent magnet synchronous motor control system with a sine filter in the prior art;

[0023] Figure 3 is a structural diagram of a step-by-step calculation module provided according to Embodiment 2 of the present application;

[0024] Figure 4 It is a structural schematic diagram of a motor control system based on a full-order effective flux observer provided according to the second embodiment of the present application;

[0025] Figure 5 It is a structural schematic diagram of an electronic device for implementing a motor control method based on a full-order effective flux observer provided in Example 3 of the present application. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0027] It should be noted that the terms "first", "second", "third", "fourth", "actual", "preset", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] Embodiment 1

[0029] Figure 1 This is a flow chart of a motor control method based on a full-order effective flux observer provided in the first embodiment of the present application. The embodiment of the present application can be applied to the case of controlling a motor. The method can be executed by a motor control system based on a full-order effective flux observer. The motor control system based on a full-order effective flux observer can be implemented in the form of hardware and / or software. The motor control system based on a full-order effective flux observer can be configured in an electronic device. Figure 1 As shown, the method includes:

[0030] S110, determining the output current and output voltage of the inverter in a stationary coordinate system, and constructing a full-order effective flux observer according to the output current, output voltage and a mathematical model of a permanent magnet synchronous motor with a sine filter.

[0031] Among them, the stationary coordinate system is a coordinate system that maintains a fixed relative position with the motor's rotating shaft. In the stationary coordinate system, there are two axes, DC and AC. The DC axis is consistent with the direction of the motor's magnetic field, and the AC axis is perpendicular to the DC axis. The stationary coordinate system has the advantages of high efficiency, high control accuracy, low noise and vibration, and is widely used in various types of motor control.

[0032] In the embodiment of the present application, after the three-phase current output by the inverter is detected, the output current in the stationary coordinate system can be obtained by performing Clarke coordinate transformation on the three-phase current, and the output voltage in the stationary coordinate system can be obtained according to the inverter output voltage instruction. After determining the output current and output voltage of the inverter in the stationary coordinate system, a full-order effective flux observer can be constructed according to the output current, output voltage and the mathematical model of the permanent magnet synchronous motor with a sine filter.

[0033] Specifically, according to the output current, output voltage and the mathematical model of the permanent magnet synchronous motor with a sine filter, a full-order effective flux observer is constructed, including:

[0034] Determine the mathematical model of permanent magnet synchronous motor with sine filter:

[0035]

[0036] The state variables are:

[0037]

[0038] The input variables are:

[0039] u=[u iα u iβ ] T ;

[0040] The output variables are:

[0041] y=[i iα i iβ ] T ;

[0042] The state matrix is:

[0043]

[0044] The input matrix is:

[0045]

[0046] The output matrix is:

[0047] C = [OOOI];

[0048]

[0049] in, is the total flux linkage of the DC axis, is the total magnetic flux of the AC shaft, m represents the main magnetic circuit, a represents the effective amount, i sα is the DC axis observation current, i sβ is the AC shaft observation current, u sα is the DC axis observed voltage, u sβ is the AC shaft observed voltage, i iα is the DC axis output current, i iβ is the AC shaft output voltage; R s , L q , L q , L f , C f is a constant, ω r is the rotor speed, and I is the second-order unit matrix.

[0050] After determining the mathematical model of the permanent magnet synchronous motor with a sine filter, the full-order effective flux observer can be constructed in combination with the output current and output voltage of the inverter in a stationary coordinate system.

[0051] Specifically, according to the output current, output voltage and the mathematical model of the permanent magnet synchronous motor with a sine filter, a full-order effective flux observer is constructed, including:

[0052] Substitute the output current and output voltage into the mathematical model of the permanent magnet synchronous motor with a sine filter to construct a full-order effective flux observer:

[0053]

[0054] in, and are the observed values ​​of x and y respectively;

[0055] The gain matrix is:

[0056]

[0057] S120, splitting the full-order effective flux observer to obtain a first effective flux observer represented by a DC axis output voltage and a DC axis output current in a stationary coordinate system and a second effective flux observer represented by an AC axis voltage and an AC axis current in a stationary coordinate system.

[0058] Specifically, the full-order effective flux observer is decomposed to obtain a first effective flux observer represented by a DC axis output voltage and a DC axis output current in a stationary coordinate system and a second effective flux observer represented by an AC axis voltage and an AC axis current in a stationary coordinate system, including:

[0059] The full-order effective flux observer is decomposed to obtain the first effective flux observer:

[0060]

[0061] The second effective flux observer:

[0062]

[0063] in:

[0064]

[0065]

[0066] u1=u iα ; u2=u iβ ;

[0067]

[0068]

[0069] C 1 / 2 =[0 0 0 0 1];

[0070]

[0071]

[0072] By alternately calculating the first effective flux observer and the second effective flux observer, the step-by-step calculation of the full-order effective flux observer can be realized. Compared with the traditional single-step calculation of the full-order effective flux observer, the step-by-step calculation of the full-order effective flux observer provided in the embodiment of the present application can effectively reduce the calculation difficulty of the full-order effective flux observer and solve the problem of excessive calculation burden of the microprocessor caused by the sine filter increasing the order of the observer. At the same time, when the step-by-step calculation of the full-order effective flux observer provided in the embodiment of the present application is used for calculation, the effective flux related to the rotor position is updated at each step, and the calculation accuracy is high.

[0073] S130 , determining an observed current and an observed voltage according to the first effective flux observer and the second effective flux observer, and adjusting the motor control voltage according to the observed current and the observed voltage.

[0074] Specifically, an observed current and an observed voltage are determined according to a first effective flux observer and a second effective flux observer, and a motor control voltage is adjusted according to the observed current and the observed voltage, including: determining a rotor speed feedback value and a rotor position feedback value according to the observed current and the observed voltage; and performing closed-loop feedback adjustment on the motor control voltage according to the rotor speed feedback value, the rotor position feedback value, the observed current and the observed voltage.

[0075] After determining the observed current and the observed voltage according to the first effective flux observer and the second effective flux observer, it is necessary to first determine the rotor speed feedback value and the rotor position feedback value, and combine the observed current and the observed voltage to perform closed-loop feedback adjustment on the motor control voltage to achieve closed-loop cascade control.

[0076] The technical solution of the embodiment of the present application determines the output current and output voltage of the inverter in a stationary coordinate system, and constructs a full-order effective flux observer based on the output current, output voltage and the mathematical model of the permanent magnet synchronous motor with a sine filter; the full-order effective flux observer is split to obtain a first effective flux observer represented by the DC axis output voltage and the DC axis output current in the stationary coordinate system and a second effective flux observer represented by the AC axis voltage and the AC axis current in the stationary coordinate system; the observation current and the observation voltage are determined based on the first effective flux observer and the second effective flux observer, and the motor control voltage is adjusted based on the observation current and the observation voltage. The technical solution of the embodiment of the present application realizes the step-by-step calculation of the full-order effective flux observer by splitting the full-order effective flux observer, which reduces the calculation time and alleviates the calculation burden.

[0077] Embodiment 2

[0078] Figure 2 It is a schematic diagram of a permanent magnet synchronous motor control system with a sine filter in the prior art. Figure 3 A schematic diagram of the structure of a step-by-step calculation module provided in Embodiment 2 of the present application is shown in FIG. Figure 4 This is a structural schematic diagram of a motor control system based on a full-order effective flux observer provided in Example 2 of the present application. The motor control system based on a full-order effective flux observer provided in Example 2 of the present application can execute the motor control method based on a full-order effective flux observer provided in any embodiment of the present application, and has functional modules and beneficial effects corresponding to the execution method.

[0079] like Figure 2 As shown, the permanent magnet synchronous motor control system with a sine filter in the prior art includes: a speed controller 001, a current controller 002, a voltage Park inverse transformation module 003, a pulse width modulation module 004, a voltage source inverter 005, a sine filter 006, a permanent magnet synchronous motor 007, a current sensor 008, a current Clarke transformation module 009, a Park transformation module 010, a single-step calculation module 012, a position calculation module 013, and a speed calculation module 014.

[0080] The speed controller 001 compares the speed command value with the speed feedback value provided by the speed calculation module 014, and uses the controller to calculate the DC command current and the AC command current;

[0081] The current controller 002 obtains the DC command voltage and the AC command voltage by comparing the DC command current, the AC command current and the feedback value through feedforward decoupling design, anti-saturation design and controller calculation;

[0082] The voltage Park inverse transformation module 003 obtains the voltage command value in the stationary coordinate system through coordinate transformation according to the DC command voltage and AC command voltage provided by the current controller and the rotor position provided by the position calculation module;

[0083] The pulse width modulation module 004 generates the duty cycle of each phase through modulation;

[0084] The voltage source inverter 005 outputs a square wave voltage according to the duty cycle of each phase and applies it to the port of the sine filter;

[0085] The sine filter 006 filters out the high frequency components and is connected to the motor port to drive the permanent magnet synchronous motor 007 in the form of a sine wave;

[0086] The output current of the voltage source inverter 005 is measured by the current sensor 008;

[0087] The current Clarke transformation module 009 calculates the inverter output current in the stationary coordinate system through coordinate transformation according to the inverter three-phase output current provided by the current sensor 008;

[0088] The Park transformation module 010 obtains the DC command current and the AC command current through coordinate transformation according to the inverter output current calculated by the current Clarke transformation module 009 and the rotor position signal provided by the speed position calculation module 011, and feeds back to the current controller 002;

[0089] The position calculation module 013 obtains the observed current and observed voltage according to the single-step calculation, and calculates the rotor position feedback value;

[0090] The speed calculation module 014 obtains the observed current and observed voltage according to the single-step calculation, and calculates the rotor speed feedback value;

[0091] The single-step calculation module 012 calculates the observed voltage and the observed current according to the output current and the output voltage in the stationary coordinate system.

[0092] Considering the existence of the sinusoidal filter, the system order is relatively high, and the calculation amount of the full-order effective flux observer performing single-step calculation in the single-step calculation module is large, which puts a heavy burden on the microprocessor that undertakes the calculation task. In the application field where the microprocessor interrupt cycle is short, the full-order effective flux observer performing single-step calculation will take up a lot of calculation time, resulting in other program functions cannot be realized and the control system cannot operate normally. In order to reduce the calculation time of the full-order effective flux observer, the embodiment of the present invention proposes a new step-by-step calculation module, which includes a full-order effective flux observer performing step-by-step calculation, so that the control system can operate normally.

[0093] like Figure 3 As shown, the step-by-step calculation module includes:

[0094] An observer construction unit 210 is used to determine the output current and output voltage of the inverter in a stationary coordinate system, and construct a full-order effective flux observer according to the output current, output voltage and a mathematical model of a permanent magnet synchronous motor with a sine filter;

[0095] An observer splitting unit 220 is used to split the full-order effective flux observer to obtain a first effective flux observer represented by a DC axis output voltage and a DC axis output current in a stationary coordinate system and a second effective flux observer represented by an AC axis voltage and an AC axis current in a stationary coordinate system;

[0096] The observation value calculation unit 230 is used to determine the observation current and the observation voltage according to the first effective flux observer and the second effective flux observer, and adjust the motor control voltage according to the observation current and the observation voltage.

[0097] Optionally, the observer construction unit 210 is specifically configured to:

[0098] Determine the mathematical model of permanent magnet synchronous motor with sine filter:

[0099]

[0100] The state variables are:

[0101]

[0102] The input variables are:

[0103] u=[u iα u iβ ] T ;

[0104] The output variables are:

[0105] y=[i iα i iβ ] T ;

[0106] The state matrix is:

[0107]

[0108] The input matrix is:

[0109]

[0110] The output matrix is:

[0111] C = [OOOI];

[0112]

[0113] in, is the total flux linkage of the DC axis, is the total magnetic flux of the AC shaft, m represents the main magnetic circuit, a represents the effective amount, i sα is the DC axis observation current, i sβ is the AC shaft observation current, u sα is the DC axis observed voltage, u sβ is the AC shaft observed voltage, i iα is the DC axis output current, i iβ is the AC shaft output voltage; R s , L q , L q , L f , C f is a constant, ω r is the rotor speed, and I is the second-order unit matrix.

[0114] Optionally, the observer construction unit 210 is specifically configured to:

[0115] The output current and output voltage are brought into the mathematical model of the permanent magnet synchronous motor with a sine filter to construct a full-order effective flux observer:

[0116]

[0117] in, and are the observed values ​​of x and y respectively;

[0118] The gain matrix is:

[0119]

[0120] Optionally, the observer splitting unit 220 is specifically configured to:

[0121] The full-order effective flux observer is decomposed to obtain the first effective flux observer:

[0122]

[0123] The second effective flux observer:

[0124]

[0125] in:

[0126]

[0127]

[0128] u1=u iα ; u2=u iβ ;

[0129]

[0130]

[0131] C 1 / 2 =[0 0 0 0 1];

[0132]

[0133]

[0134] Optionally, the observation value calculation unit 230 includes:

[0135] A feedback value determination subunit, used to determine a rotor speed feedback value and a rotor position feedback value according to the observed current and the observed voltage;

[0136] The motor control subunit is used to perform closed-loop feedback regulation on the motor control voltage according to the rotor speed feedback value, the rotor position feedback value, the observed current and the observed voltage.

[0137] Compared with the full-order effective flux observer with single-step calculation in the prior art, the full-order effective flux observer with step-by-step calculation provided in the embodiment of the present application requires the same data to be stored during the calculation process, so there is no need to increase additional storage space.

[0138] By improving the existing permanent magnet synchronous motor control system with a sine filter through the step-by-step calculation module provided in the embodiment of the present application, the motor control system based on the full-order effective flux observer in the embodiment of the present application can be obtained.

[0139] like Figure 4 As shown, the motor control system based on the full-order effective flux observer also includes:

[0140] Current sensor 008, used to detect the three-phase output current of the inverter;

[0141] The current Clarke transformation module 009 is used to obtain the output current in a stationary coordinate system through coordinate transformation according to the inverter three-phase output current provided by the current sensor.

[0142] Optionally, the step-by-step calculation module 012 is further used for:

[0143] According to the output current provided by the current Clarke transformation module 009 and the output voltage provided by the voltage inverse Park transformation module 003, the observed current and the observed voltage are obtained by step-by-step calculation;

[0144] The system further comprises: a position calculation module 013, which is used to obtain the observed current and observed voltage according to the step-by-step calculation, and obtain the rotor position feedback value through a phase-locked loop or an inverse tangent function calculation;

[0145] The system further includes: a speed calculation module 014, which is used to obtain the observed current and the observed voltage according to the step-by-step calculation, and obtain the rotor speed feedback value by calculating the speed adaptive law, wherein the speed adaptive law is:

[0146] Optionally, the system further comprises:

[0147] The Park transformation module 010 is used to obtain a DC feedback current, an AC feedback current, a DC feedback voltage and an AC feedback voltage through coordinate transformation according to the output current in the stationary coordinate system provided by the current Clarke transformation module 009, the observed current, the observed voltage and the rotor position feedback value;

[0148] The speed controller 001 is used to calculate a DC command current and an AC command current by comparing the speed command value with the rotor speed feedback value;

[0149] The current controller 002 is used to obtain the DC command voltage and the AC command voltage by comparing the DC command current, the AC command current, the DC feedback current and the AC feedback current through feedforward decoupling design, anti-saturation design and controller calculation;

[0150] The voltage Park inverse transformation module 003 is used to obtain a voltage command value in a stationary coordinate system through coordinate transformation according to the DC command voltage and AC command voltage provided by the current controller 002 and the rotor position feedback value provided by the position calculation module.

[0151] Optionally, the system further comprises:

[0152] The pulse width modulation module 004 is used to generate a three-phase duty cycle by comparing the voltage command value in the stationary coordinate system provided by the voltage inverse Park transformation module 003 with the carrier;

[0153] The voltage source inverter 005 is used to generate a three-phase voltage through a driving amplifier circuit according to the three-phase duty cycle provided by the pulse width modulation module 004 and apply it to the port of the sine filter;

[0154] The sine filter 006 is used to filter out the high-frequency components in the voltage and current output by the voltage source inverter 005, and drive the permanent magnet synchronous motor 007 in the form of a sine wave.

[0155] Based on the above content and Figure 2 , Figure 4It can be seen that the difference between the permanent magnet synchronous motor control system with sine filter before and after the improvement lies in the current controller 002, the Park transformation module 010, and the single-step / split-step calculation module 012. Among them, the difference of the current controller 002 is that the input of the current controller 002 in the embodiment of the present application has two more items, the difference of the Park transformation module 010 is that the output of the Park transformation module 010 has two more items, and the difference of the single-step / split-step calculation module 012 is the inventive point of the present application, which has been specifically described in the first embodiment and will not be repeated here.

[0156] A motor control system based on a full-order effective flux observer provided in an embodiment of the present application can execute a motor control method based on a full-order effective flux observer provided in any embodiment of the present application, and has functional modules and beneficial effects corresponding to the execution method.

[0157] Embodiment 3

[0158] Figure 5 A schematic diagram of an electronic device 10 that can be used to implement an embodiment of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0159] like Figure 5 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0160] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0161] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a motor control method based on a full-order effective flux observer.

[0162] In some embodiments, the motor control method based on the full-order effective flux observer can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the motor control method based on the full-order effective flux observer described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the motor control method based on the full-order effective flux observer in any other appropriate manner (for example, by means of firmware).

[0163] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0164] The computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer programs are executed by the processor, the functions / operations specified in the flow charts and / or block diagrams are implemented. The computer programs may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0165] In the context of the present application, a computer readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device or equipment. A computer readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer readable storage medium may be a machine readable signal medium. A more specific example of a machine readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0166] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0167] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0168] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0169] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the information expected by the technical solution of this application can be achieved, and this document is not limited here.

[0170] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A motor control method based on a full-order effective flux observer, characterized in that: The method comprises: Determine the output current and output voltage of the inverter in a stationary coordinate system, and construct a full-order effective flux observer based on the output current, output voltage and a mathematical model of a permanent magnet synchronous motor with a sine filter; The full-order effective flux observer is split to obtain a first effective flux observer represented by a DC axis output voltage and a DC axis output current in a stationary coordinate system and a second effective flux observer represented by an AC axis voltage and an AC axis current in a stationary coordinate system; An observed current and an observed voltage are determined according to the first effective flux observer and the second effective flux observer, and a motor control voltage is adjusted according to the observed current and the observed voltage.

2. The method according to claim 1, characterized in that: According to the output current, output voltage and the mathematical model of the permanent magnet synchronous motor with a sine filter, a full-order effective flux observer is constructed, including: Determine the mathematical model of permanent magnet synchronous motor with sine filter: The state variables are: The input variables are: in=[in iα in iβ ] T ; The output variables are: y=[i iα i iβ ] T ; The state matrix is: The input matrix is: The output matrix is: C = [OOOI]; in, is the total flux linkage of the DC axis, is the total magnetic flux of the AC shaft, m represents the main magnetic circuit, a represents the effective amount, i sα is the DC axis observation current, i sβ is the AC shaft observation current, u sα is the DC axis observed voltage, u sβ is the AC shaft observed voltage, i iα is the DC axis output current, i iβ is the AC shaft output voltage; R s , L q , L q , L f , C f is a constant, ω r is the rotor speed, and I is the second-order unit matrix.

3. The method according to claim 2, characterized in that According to the output current, output voltage and the mathematical model of the permanent magnet synchronous motor with a sine filter, a full-order effective flux observer is constructed, including: The output current and output voltage are brought into the mathematical model of the permanent magnet synchronous motor with a sine filter to construct a full-order effective flux observer: in, and are the observed values ​​of x and y respectively; The gain matrix is:

4. The method according to claim 3, characterized in that The full-order effective flux observer is decomposed to obtain a first effective flux observer represented by a DC axis output voltage and a DC axis output current in a stationary coordinate system and a second effective flux observer represented by an AC axis voltage and an AC axis current in a stationary coordinate system, including: The full-order effective flux observer is decomposed to obtain the first effective flux observer: The second effective flux observer: in: C 1 / 2 ＝[0 0 0 0 1]； 5. The method according to claim 1, characterized in that Determining an observed current and an observed voltage according to the first effective flux observer and the second effective flux observer, and adjusting a motor control voltage according to the observed current and the observed voltage, including: Determining a rotor speed feedback value and a rotor position feedback value according to the observed current and the observed voltage; The motor control voltage is regulated by closed-loop feedback according to the rotor speed feedback value, the rotor position feedback value, the observed current and the observed voltage.

6. A motor control system based on a full-order effective flux observer, characterized in that: The system includes a step-by-step calculation module, including: An observer construction unit is used to determine the output current and output voltage of the inverter in a stationary coordinate system, and construct a full-order effective flux observer according to the output current, output voltage and a mathematical model of a permanent magnet synchronous motor with a sine filter; An observer splitting unit is used to split the full-order effective flux observer to obtain a first effective flux observer represented by a DC axis output voltage and a DC axis output current in a stationary coordinate system and a second effective flux observer represented by an AC axis voltage and an AC axis current in a stationary coordinate system; The observation value calculation unit is used to determine the observation current and the observation voltage according to the first effective flux observer and the second effective flux observer, and adjust the motor control voltage according to the observation current and the observation voltage.

7. The system according to claim 6, characterized in that The system further comprises: Current sensor, used to detect the three-phase output current of the inverter; The current Clarke transformation module is used to obtain the output current in a stationary coordinate system through coordinate transformation according to the inverter three-phase output current provided by the current sensor.

8. The system according to claim 7, characterized in that The step-by-step calculation module is also used to: According to the output current provided by the current Clarke transformation module and the output voltage provided by the voltage inverse Park transformation module, the observed current and the observed voltage are obtained by step-by-step calculation; The system further comprises: a position calculation module, which is used to obtain the observed current and the observed voltage according to the step-by-step calculation, and obtain the rotor position feedback value through the phase-locked loop or the inverse tangent function calculation; The system further includes: a speed calculation module for obtaining the observed current and the observed voltage according to the step-by-step calculation, and obtaining the rotor speed feedback value by calculating the speed adaptive law, wherein the speed adaptive law is:

9. The system according to claim 8, characterized in that The system further comprises: A Park transformation module, configured to obtain a DC feedback current, an AC feedback current, a DC feedback voltage and an AC feedback voltage through coordinate transformation according to the output current in the stationary coordinate system provided by the current Clarke transformation module, the observed current, the observed voltage and the rotor position feedback value; A speed controller, used for calculating a DC command current and an AC command current by comparing a speed command value with the rotor speed feedback value; A current controller is used to obtain a DC command voltage and an AC command voltage by comparing a DC command current, an AC command current, a DC feedback current and an AC feedback current through a feedforward decoupling design, an anti-saturation design and controller calculation; The voltage Park inverse transformation module is used to obtain a voltage command value in a stationary coordinate system through coordinate transformation according to the DC command voltage and AC command voltage provided by the current controller and the rotor position feedback value provided by the position calculation module.

10. The system according to claim 9, characterized in that The system further comprises: A pulse width modulation module is used to generate a three-phase duty cycle by comparing the voltage command value in the stationary coordinate system provided by the voltage inverse Park transform module with the carrier; A voltage source inverter is used to generate a three-phase voltage through a driving amplifier circuit according to the three-phase duty ratio provided by the pulse width modulation module and apply it to the port of the sine filter; The sine filter is used to filter out the high-frequency components in the voltage and current output by the voltage source inverter and drive the permanent magnet synchronous motor in the form of a sine wave.

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