Nonlinear reduced-order passive observer management method and device, equipment, storage medium and computer product

Abstract

The invention relates to the technical field of motor design, and discloses a non-linear reduced-order passive observer management method and device, equipment, a storage medium and a computer product, and the method comprises the steps: obtaining a third-order state-space equation of a permanent magnet synchronous motor under a d-q coordinate axis, reducing the order of the third-order state-space equation to obtain a second-order state-space equation of the permanent magnet synchronous motor; acquiring a first state-space equation of the nonlinear reduced-order observer by using a state feedback method according to the second-order state-space equation; obtaining a state error dynamic equation according to the second-order state-space equation and the first state-space equation; and obtaining the nonlinear reduced-order passive observer according to the state error dynamic equation and the actual parameters of the motor. The coupling problem of d-q axis current is avoided by reducing the calculation amount through order reduction in the design of the non-linear observer, the non-linear order reduction passive observer is applied to the sensorless control system of the permanent magnet synchronous motor, and the reliability of the system is improved.

Description

Technical Field

[0001] The present application relates to the technical field of motor design, and in particular to a management method, device, equipment, storage medium and computer product of a nonlinear reduced-order passive observer. Background Art

[0002] Existing sensorless control generally measures the voltage and current of the motor, uses the mathematical model of the motor to estimate the back electromotive force, and then obtains the rotor position and speed information, and uses the sliding mode observer to calculate the angle and speed of the motor. Due to its special structure, the control effect of the sliding mode observer is discontinuous on the switching surface, which will cause the system state to produce high-frequency jitter near the sliding surface. Jitter will not only cause the observed value to fluctuate and affect the observation accuracy, but may also stimulate the unmodeled dynamics of the system, resulting in system instability.

[0003] The parameters of the motor may change during operation. For example, the drift of parameters such as resistance and inductance, as well as sudden changes in load, will affect the performance of sensorless control, reduce the accuracy of rotor position and speed estimation and the stability of the system. In addition, the traditional full-order observer is complex in design and difficult to calculate. Summary of the invention

[0004] The purpose of this application is to provide a management method, device, equipment, storage medium and computer product for a nonlinear reduced-order passive observer, aiming to solve the technical problem that a traditional sliding mode observer generates a high-frequency jitter phenomenon near the sliding mode surface, causing the sliding mode observer to be sensitive to motor parameters and reducing the accuracy of rotor position and speed estimation.

[0005] To achieve the above object, the present application proposes a management method for a nonlinear reduced-order passive observer, the management method for the nonlinear reduced-order passive observer is applied to a sensorless control system of a permanent magnet synchronous motor, the method comprising:

[0006] Obtaining a third-order state space equation of the permanent magnet synchronous motor under the dq coordinate axis, and reducing the third-order state space equation to obtain a second-order state space equation of the permanent magnet synchronous motor;

[0007] Obtaining a first state space equation of a nonlinear reduced-order observer using a state feedback method according to the second-order state space equation;

[0008] Acquire a state error dynamic equation according to the second-order state space equation and the first state space equation;

[0009] A nonlinear reduced-order passive observer is obtained according to the state error dynamic equation and the actual parameters of the motor.

[0010] In one embodiment, the step of obtaining the third-order state space equation of the permanent magnet synchronous motor under the dq coordinate axis, and reducing the third-order state space equation to obtain the second-order state space equation of the permanent magnet synchronous motor includes:

[0011] Obtain the third-order state space equation of the permanent magnet synchronous motor under the dq coordinate axis;

[0012] The stator voltage and the stator current on the d coordinate axis in the third-order state-space equation are set to zero to obtain the second-order state-space equation of the permanent magnet synchronous motor.

[0013] In one embodiment, the step of obtaining the third-order state space equation of the permanent magnet synchronous motor under the dq coordinate axis includes:

[0014] Obtaining a voltage equation and a motion equation of the permanent magnet synchronous motor;

[0015] The voltage equation and the motion equation are combined into the third order state space equation.

[0016] In one embodiment, the step of obtaining a state error dynamic equation according to the second-order state space equation and the first state space equation comprises:

[0017] Obtaining a difference equation between the second-order state-space equation and the first state-space equation;

[0018] The difference equation is used as the state error dynamic equation.

[0019] In one embodiment, the step of obtaining a nonlinear reduced-order passive observer according to the state error dynamic equation and the actual parameters of the motor includes:

[0020] Obtaining a first coefficient matrix of the state error dynamic equation;

[0021] Obtaining an error feedback coefficient matrix of the state error dynamic equation according to the diagonal matrix characteristics of the first coefficient matrix;

[0022] A nonlinear reduced-order passive observer is obtained according to the actual parameters of the motor and the error feedback coefficient matrix.

[0023] In one embodiment, after the step of obtaining a nonlinear reduced-order passive observer according to the state error dynamic equation and the actual parameters of the motor, the following steps are included:

[0024] simulating the nonlinear reduced-order passive observer under different speed conditions;

[0025] Acquire simulation graphs of the nonlinear reduced-order passive observer under the different speed conditions;

[0026] The speed following performance of the nonlinear reduced-order passive observer is determined according to the simulation graph.

[0027] In addition, to achieve the above-mentioned purpose, the present application also proposes a management device for a nonlinear reduced-order passive observer, the device comprising:

[0028] An equation reduction module is used to obtain a third-order state space equation of the permanent magnet synchronous motor under the dq coordinate axis, and reduce the third-order state space equation to obtain a second-order state space equation of the permanent magnet synchronous motor;

[0029] A reduced-order acquisition module, used for acquiring a first state-space equation of a nonlinear reduced-order observer using a state feedback method according to the second-order state-space equation;

[0030] An error acquisition module, used for acquiring a state error dynamic equation according to the second-order state space equation and the first state space equation;

[0031] The passive acquisition module is used to acquire a nonlinear reduced-order passive observer according to the state error dynamic equation and the actual parameters of the motor.

[0032] In addition, to achieve the above-mentioned purpose, the present application also proposes a management device for a nonlinear reduced-order passive observer, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the management method for the nonlinear reduced-order passive observer as described above.

[0033] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the management method of the nonlinear reduced-order passive observer as described above are implemented.

[0034] In addition, to achieve the above-mentioned purpose, the present application also proposes a computer program product, wherein the computer program product includes a computer program, and when the computer program is executed by a processor, the management method of the nonlinear reduced-order passive observer as described above is implemented.

[0035] The present application proposes a management method for a nonlinear reduced-order passive observer, which is applied to a sensorless control system of a permanent magnet synchronous motor. The method includes: obtaining a third-order state space equation of the permanent magnet synchronous motor under the dq coordinate axis, and reducing the third-order state space equation to obtain a second-order state space equation of the permanent magnet synchronous motor; obtaining a first state space equation of the nonlinear reduced-order observer using a state feedback method according to the second-order state space equation; obtaining a state error dynamic equation according to the second-order state space equation and the first state space equation; obtaining a nonlinear reduced-order passive observer according to the state error dynamic equation and the actual parameters of the motor. Based on a dual closed-loop permanent magnet synchronous motor vector control system, while reducing the calculation amount in the design of the nonlinear observer to avoid the coupling problem of the dq axis current, the nonlinear reduced-order passive observer is applied to the sensorless control system of the permanent magnet synchronous motor, replacing traditional physical observers such as rotary transformers, reducing hardware costs and maintenance costs, and improving system reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0038] Figure 1 A flow chart of a management method for a nonlinear reduced-order passive observer according to a first embodiment of the present invention;

[0039] Figure 2 A flow chart of Embodiment 2 of the management method of the nonlinear reduced-order passive observer provided in the present application;

[0040] Figure 3 A flow chart of Embodiment 3 of the management method of the nonlinear reduced-order passive observer of the present application;

[0041] Figure 4 This is a schematic diagram of the module structure of a management device for a nonlinear reduced-order passive observer according to an embodiment of the present application;

[0042] Figure 5 A schematic diagram of the structure of a management device for a nonlinear reduced-order passive observer in a hardware operating environment involved in a management method for a nonlinear reduced-order passive observer in an embodiment of the present application;

[0043] Figure 6This is a speed waveform diagram of the nonlinear reduced-order passive observer in an embodiment of the present application;

[0044] Figure 7 A speed error diagram of a nonlinear reduced-order passive observer in an embodiment of the present application;

[0045] Figure 8 This is an angle waveform diagram of the nonlinear reduced-order passive observer in an embodiment of the present application;

[0046] Fig. 9 : is an angle error diagram of the nonlinear reduced-order passive observer in an embodiment of the present application.

[0047] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0049] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0050] The main solution of the embodiment of the present application is: obtain the third-order state space equation of the permanent magnet synchronous motor under the dq coordinate axis, and reduce the third-order state space equation to obtain the second-order state space equation of the permanent magnet synchronous motor; obtain the first state space equation of the nonlinear reduced-order observer by using the state feedback method according to the second-order state space equation; obtain the state error dynamic equation according to the second-order state space equation and the first state space equation; obtain the nonlinear reduced-order passive observer according to the state error dynamic equation and the actual parameters of the motor.

[0051] Existing sensorless control generally measures the voltage and current of the motor, uses the mathematical model of the motor to estimate the back electromotive force, and then obtains the rotor position and speed information, and uses the sliding mode observer to calculate the angle and speed of the motor. Due to its special structure, the control effect of the sliding mode observer is discontinuous on the switching surface, which will cause the system state to produce high-frequency jitter near the sliding surface. Jitter will not only cause the observed value to fluctuate and affect the observation accuracy, but may also stimulate the unmodeled dynamics of the system, resulting in system instability.

[0052] The present application provides a solution, which is based on a dual closed-loop permanent magnet synchronous motor vector control system. At the same time, in the design of the nonlinear observer, the coupling problem of the dq axis current is avoided by reducing the calculation amount by reducing the order. The nonlinear reduced-order passive observer is applied to the permanent magnet synchronous motor sensorless control system to replace the traditional physical observer such as the resolver, thereby reducing the hardware cost and maintenance cost and improving the reliability of the system.

[0053] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a management device of a nonlinear reduced-order passive observer capable of realizing the above functions, etc. The management device of a nonlinear reduced-order passive observer is taken as an example to illustrate this embodiment and the following embodiments.

[0054] Based on this, the embodiment of the present application provides a management method for a nonlinear reduced-order passive observer, referring to Figure 1 , Figure 1 A flowchart diagram of Embodiment 1 of the management method of the nonlinear reduced-order passive observer of the present application is provided.

[0055] In this embodiment, the management method of the nonlinear reduced-order passive observer includes steps S10 to S40:

[0056] Step S10: obtaining a third-order state space equation of the permanent magnet synchronous motor under the dq coordinate axis, and reducing the third-order state space equation to obtain a second-order state space equation of the permanent magnet synchronous motor.

[0057] It should be understood that the third-order state space equation of the surface-mounted permanent magnet synchronous motor in the dq coordinate system can be expressed as:

[0058]

[0059] Where: Pn is the pole pair number; ω m Motor mechanical angular velocity, u d 、u q and i d 、i q are the dq axis stator voltage and stator current respectively; L d , L q is the stator inductance; f is the rotor flux, R is the stator resistance, J represents the moment of inertia, T L is the load torque and D is the viscous friction coefficient. d 、i q There is a coupling phenomenon. In order to reduce the computational complexity of the observer design and avoid the dq axis coupling problem, the third-order state space equation is reduced to the second order:

[0060]

[0061] Step S20: obtaining a first state space equation of a nonlinear reduced-order observer using a state feedback method according to the second-order state space equation.

[0062] It should be understood that the state feedback method is a technique in control system design that uses the state variables of the system to construct control inputs in order to achieve the purpose of improving system performance. The state variables of a system are the minimum set of variables that describe the dynamic behavior of the system. In control theory, state variables are usually internal variables of the system, and they can fully describe the behavior of the system. A dynamic system can be represented by a state space, which includes state equations and output equations. The state equation describes the rate of change of the state variables over time, while the output equation describes the relationship between the system output and the state variables. State feedback refers to feeding back some or all of the state variables of the system to the input of the system through a certain feedback matrix (gain matrix) to form a closed-loop control system.

[0063] Step S30: obtaining a state error dynamic equation according to the second-order state space equation and the first state space equation.

[0064] It should be understood that in order to obtain the state error dynamics, we first need to define the state error. The state error is the difference between the actual system state and the observer's estimate of the state. The state error dynamics describes how the state error changes over time. In the design of the observer, we usually want these state errors to asymptotically tend to zero, which means that the observer can accurately estimate the state of the system. In practical applications, because the observer may be a simplified model, it does not contain all the dynamics of the actual system. Therefore, the design of the observer needs to ensure that the state error dynamics is stable even in the presence of these differences.

[0065] Step S40: obtaining a nonlinear reduced-order passive observer according to the state error dynamic equation and actual parameters of the motor.

[0066] It should be understood that the actual parameters of the motor are crucial for the design of the observer. These parameters include stator resistance, inductance, permanent magnet flux, moment of inertia, friction coefficient, etc. The accuracy of the actual parameters directly affects the performance of the observer. Therefore, accurate motor parameters need to be used when designing the observer. If there are errors in the parameters, it may cause deviations in the estimation results of the observer.

[0067] In this embodiment, the management method of the nonlinear reduced-order passive observer is applied to the sensorless control system of the permanent magnet synchronous motor, and the method includes: obtaining the third-order state space equation of the permanent magnet synchronous motor under the dq coordinate axis, and reducing the third-order state space equation to obtain the second-order state space equation of the permanent magnet synchronous motor; obtaining the first state space equation of the nonlinear reduced-order observer by the state feedback method according to the second-order state space equation; obtaining the state error dynamic equation according to the second-order state space equation and the first state space equation; obtaining the nonlinear reduced-order passive observer according to the state error dynamic equation and the actual parameters of the motor. Based on the dual closed-loop permanent magnet synchronous motor vector control system, while reducing the calculation amount in the design of the nonlinear observer by reducing the order to avoid the coupling problem of the dq axis current, the nonlinear reduced-order passive observer is applied to the sensorless control system of the permanent magnet synchronous motor, replacing the traditional physical observers such as rotary transformers, reducing the hardware cost and maintenance cost, and improving the reliability of the system.

[0068] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 2 , Figure 2 A flow chart of Embodiment 2 of the management method of the nonlinear reduced-order passive observer provided in the present application. In step S10, the management method of the nonlinear reduced-order passive observer further includes:

[0069] Step S110: Obtain the third-order state space equation of the permanent magnet synchronous motor in the dq coordinate axis.

[0070] It should be understood that the third-order state space equation is equation (1) in the first embodiment.

[0071] Step S120: setting the stator voltage and the stator current on the d-axis in the third-order state-space equation to zero to obtain the second-order state-space equation of the permanent magnet synchronous motor.

[0072] It should be noted that when u d =0 and i d When =0, the first equation in formula (1) is directly 0; the second equation in formula (1) becomes the first equation in formula (2); the third equation in formula (1) becomes the second equation in formula (2).

[0073] It should be understood that formula (2) is expressed in the form of the following second-order state space equation:

[0074]

[0075] Where x = [i q ω m ]T is the state vector, u=[u q T L ] T is the input vector, y=[i q ω m ] T is the output vector. A, B, C are coefficient matrices, f(i q ,ω m ) are state functions, which are:

[0076]

[0077] In step S110, the management method of the nonlinear reduced-order passive observer further includes:

[0078] Step S111: obtaining the voltage equation and the motion equation of the permanent magnet synchronous motor.

[0079] It should be understood that the voltage equation is the first equation and the second equation in equation (1), and the motion equation is the third equation in equation (1).

[0080] Step S112: combining the voltage equation and the motion equation into the third-order state space equation.

[0081] In this embodiment, by obtaining the third-order state space equation of the permanent magnet synchronous motor under the dq coordinate axis, and reducing the calculation amount in the design of the nonlinear observer to avoid the coupling problem of the dq axis current, the nonlinear reduced-order passive observer is applied to the permanent magnet synchronous motor sensorless control system to replace traditional physical observers such as rotary transformers, thereby reducing hardware costs and maintenance costs.

[0082] Based on the first embodiment and / or the second embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those of the above-mentioned first and second embodiments can refer to the above introduction, and will not be repeated later. Figure 3 , Figure 3 The flowchart of the third embodiment of the management method of the nonlinear reduced-order passive observer of the present application is provided. In step S30, the management method of the nonlinear reduced-order passive observer further includes:

[0083] Step S310: obtaining a difference equation between the second-order state-space equation and the first state-space equation;

[0084] Step S320: using the difference equation as the state error dynamic equation.

[0085] According to the mathematical model of permanent magnet synchronous motor shown in formula (3), the nonlinear observer is designed by using the state feedback method as shown in formula (4):

[0086]

[0087] in, is the error feedback coefficient matrix, is the observed value of x. Subtracting equation (4) from equation (3) and taking into account that the speed changes more slowly than the current changes, we can finally get the approximate state error dynamic equation as follows:

[0088]

[0089] in, is the difference between the actual value and the observed value. The state error dynamic equation (5) is written in matrix form (6)

[0090]

[0091] In step S40, the management method of the nonlinear reduced-order passive observer further includes:

[0092] Step S410: Obtaining a first coefficient matrix of the state error dynamic equation;

[0093] Step S420: obtaining an error feedback coefficient matrix of the state error dynamic equation according to the diagonal matrix characteristics of the first coefficient matrix;

[0094] Step S430: obtaining a nonlinear reduced-order passive observer according to the actual parameters of the motor and the error feedback coefficient matrix.

[0095] It should be noted that, considering the nonlinear system represented by the following equation (1),

[0096] Mx=J(x)x+Qx (7)

[0097] Where x∈R n , M∈R n×n , Q∈R n×n is a constant matrix, J(x)∈R n×n is a nonlinear matrix.

[0098] Conclusion: For a nonlinear system such as that shown in equation (7), if its coefficient matrix satisfies M = M T >0,J(x)+J T (x)=0,Q=Q T <0, then its 0 solution is globally stable.

[0099] It should be understood that by comparing equation (6) with equation (7), we can see that: M = M T >0, J(θ)+J T(θ) = 0. The matrix Q is a diagonal matrix, and its diagonal elements are eigenvalues. The necessary and sufficient condition for the matrix Q to be negative definite is that its eigenvalues ​​are all less than zero. Therefore, when the following relationship (8) is satisfied,

[0100]

[0101] The matrix Q is a negative definite matrix, that is: The system is passive and calculates the appropriate l according to the actual parameters of the motor 1 and l 2 A nonlinear passive observer that meets the conditions can be designed.

[0102] After step S40, the management method of the nonlinear reduced-order passive observer further includes:

[0103] Step S440: simulating the nonlinear reduced-order passive observer under different speed conditions;

[0104] Step S450: obtaining simulation graphs of the nonlinear reduced-order passive observer under the different speed conditions;

[0105] Step S460: determining the speed followability of the nonlinear reduced-order passive observer according to the simulation graph.

[0106] It should be understood that the simulation was performed at two speeds of 500rpm / min and 1000rpm / min through MATLAB / Simulink. It started with 4N·m and 500rpm / min. After 0.1s, the speed was set to 1000rpm / min. At 0.2s, the load suddenly changed to 10N·m. The simulation results are shown in Figure 1. Figures 6 to 9 As shown in the figure, according to the speed and angle waveforms, the speed and angle following performance of the nonlinear observer is very good, and the error is small.

[0107] In this embodiment, the first coefficient matrix of the state error dynamic equation is obtained; the error feedback coefficient matrix of the state error dynamic equation is obtained according to the diagonal matrix characteristics of the first coefficient matrix; the nonlinear reduced-order passive observer is obtained according to the actual parameters of the motor and the error feedback coefficient matrix. The nonlinear reduced-order passive observer is simulated under different speed conditions; the simulation graph of the nonlinear reduced-order passive observer under the different speed conditions is obtained; and the speed followability of the nonlinear reduced-order passive observer is determined according to the simulation graph. By collecting i q 、u q , T L Then, the order reduction method is adopted to reduce the amount of calculation, and the motor's angle and speed are calculated with less input, which are fed back to the control system to achieve complete dual closed-loop control.

[0108] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the management method of the nonlinear reduced-order passive observer of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0109] The present application also provides a management device for a nonlinear reduced-order passive observer, please refer to Figure 4 , the management device of the nonlinear reduced-order passive observer comprises:

[0110] An equation reduction module 10 is used to obtain a third-order state space equation of the permanent magnet synchronous motor under the dq coordinate axis, and reduce the third-order state space equation to obtain a second-order state space equation of the permanent magnet synchronous motor;

[0111] A reduced-order acquisition module 20, configured to acquire a first state-space equation of a nonlinear reduced-order observer using a state feedback method according to the second-order state-space equation;

[0112] An error acquisition module 30, configured to acquire a state error dynamic equation according to the second-order state space equation and the first state space equation;

[0113] The passive acquisition module 40 is used to acquire a nonlinear reduced-order passive observer according to the state error dynamic equation and actual parameters of the motor.

[0114] Optionally, the equation reduction module 10 is also used to obtain the third-order state space equation of the permanent magnet synchronous motor under the dq coordinate axis; the stator voltage and stator current on the d coordinate axis in the third-order state space equation are set to zero to obtain the second-order state space equation of the permanent magnet synchronous motor.

[0115] Optionally, the equation reduction module 10 is also used to obtain the voltage equation and the motion equation of the permanent magnet synchronous motor; and combine the voltage equation and the motion equation into the third-order state space equation.

[0116] Optionally, the error acquisition module 30 is further used to obtain a difference equation between the second-order state space equation and the first state space equation; and use the difference equation as the state error dynamic equation.

[0117] Optionally, the passive acquisition module 40 is also used to obtain the first coefficient matrix of the state error dynamic equation; obtain the error feedback coefficient matrix of the state error dynamic equation according to the diagonal matrix characteristics of the first coefficient matrix; and obtain a nonlinear reduced-order passive observer according to the actual parameters of the motor and the error feedback coefficient matrix.

[0118] Optionally, the passive acquisition module 40 is also used to simulate the nonlinear reduced-order passive observer under different speed conditions; obtain simulation graphs of the nonlinear reduced-order passive observer under the different speed conditions; and determine the speed followability of the nonlinear reduced-order passive observer based on the simulation graphs.

[0119] The management device of the nonlinear reduced-order passive observer provided by the present application adopts the management method of the nonlinear reduced-order passive observer in the above-mentioned embodiment, which can solve the technical problem that the traditional sliding mode observer generates high-frequency jitter near the sliding mode surface, causing the sliding mode observer to be sensitive to motor parameters and reducing the accuracy of the rotor position and speed estimation. Compared with the prior art, the beneficial effects of the management device of the nonlinear reduced-order passive observer provided by the present application are the same as the beneficial effects of the management method of the nonlinear reduced-order passive observer provided by the above-mentioned embodiment, and the other technical features in the management device of the nonlinear reduced-order passive observer are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0120] The present application provides a management device for a nonlinear reduced-order passive observer, the management device for a nonlinear reduced-order passive observer comprising: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the management method for the nonlinear reduced-order passive observer in the first embodiment.

[0121] Reference below Figure 5 , which shows a schematic diagram of the structure of a management device suitable for implementing a nonlinear reduced-order passive observer in an embodiment of the present application. The management device of the nonlinear reduced-order passive observer in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The management device of the nonlinear reduced-order passive observer shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0122] like Figure 5As shown, the management device of the nonlinear reduced-order passive observer may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the management device of the nonlinear reduced-order passive observer to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows the management device of the nonlinear reduced-order passive observer with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have instead.

[0123] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0124] The management device of the nonlinear reduced-order passive observer provided by the present application adopts the management method of the nonlinear reduced-order passive observer in the above-mentioned embodiment, which can solve the technical problem that the traditional sliding mode observer generates high-frequency jitter near the sliding mode surface, causing the sliding mode observer to be sensitive to motor parameters and reducing the accuracy of the rotor position and speed estimation. Compared with the prior art, the beneficial effects of the management device of the nonlinear reduced-order passive observer provided by the present application are the same as the beneficial effects of the management method of the nonlinear reduced-order passive observer provided by the above-mentioned embodiment, and the other technical features in the management device of the nonlinear reduced-order passive observer are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0125] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0126] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0127] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the management method of the nonlinear reduced-order passive observer in the above-mentioned embodiment.

[0128] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), 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 above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0129] The computer-readable storage medium may be included in the management device of the nonlinear reduced-order passive observer; or may exist independently without being assembled into the management device of the nonlinear reduced-order passive observer.

[0130] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0131] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0132] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0133] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned management method of the nonlinear reduced-order passive observer, and can solve the technical problem that the traditional sliding mode observer generates high-frequency chattering near the sliding surface, causing the sliding mode observer to be sensitive to motor parameters and reducing the accuracy of the rotor position and speed estimation. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the management method of the nonlinear reduced-order passive observer provided by the above-mentioned embodiment, and will not be repeated here.

[0134] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A management method for a nonlinear reduced-order passive observer, characterized in that: The management method of the nonlinear reduced-order passive observer is applied to a sensorless control system of a permanent magnet synchronous motor, and the method comprises: Obtaining a third-order state space equation of the permanent magnet synchronous motor under the dq coordinate axis, and reducing the third-order state space equation to obtain a second-order state space equation of the permanent magnet synchronous motor; Obtaining a first state space equation of a nonlinear reduced-order observer using a state feedback method according to the second-order state space equation; Obtaining a state error dynamic equation according to the second-order state space equation and the first state space equation; A nonlinear reduced-order passive observer is obtained according to the state error dynamic equation and the actual parameters of the motor.

2. The management method of the nonlinear reduced-order passive observer according to claim 1, characterized in that: The step of obtaining the third-order state space equation of the permanent magnet synchronous motor under the dq coordinate axis, and reducing the third-order state space equation to obtain the second-order state space equation of the permanent magnet synchronous motor includes: Obtain the third-order state space equation of the permanent magnet synchronous motor under the dq coordinate axis; The stator voltage and the stator current on the d coordinate axis in the third-order state-space equation are set to zero to obtain the second-order state-space equation of the permanent magnet synchronous motor.

3. The management method of the nonlinear reduced-order passive observer according to claim 2, characterized in that: The step of obtaining the third-order state space equation of the permanent magnet synchronous motor under the dq coordinate axis includes: Obtaining a voltage equation and a motion equation of the permanent magnet synchronous motor; The voltage equation and the motion equation are combined into the third order state space equation.

4. The management method of the nonlinear reduced-order passive observer according to claim 1, characterized in that: The step of obtaining a state error dynamic equation according to the second-order state space equation and the first state space equation comprises: Obtaining a difference equation between the second-order state-space equation and the first state-space equation; The difference equation is used as the state error dynamic equation.

5. The management method of the nonlinear reduced-order passive observer according to claim 1, characterized in that: The step of obtaining a nonlinear reduced-order passive observer according to the state error dynamic equation and the actual parameters of the motor comprises: Obtaining a first coefficient matrix of the state error dynamic equation; Obtaining an error feedback coefficient matrix of the state error dynamic equation according to the diagonal matrix characteristics of the first coefficient matrix; A nonlinear reduced-order passive observer is obtained according to the actual parameters of the motor and the error feedback coefficient matrix.

6. The management method of the nonlinear reduced-order passive observer according to claim 1, characterized in that: After the step of obtaining a nonlinear reduced-order passive observer according to the state error dynamic equation and the actual parameters of the motor, the method further comprises: simulating the nonlinear reduced-order passive observer under different speed conditions; Acquire simulation graphs of the nonlinear reduced-order passive observer under the different speed conditions; The speed following performance of the nonlinear reduced-order passive observer is determined according to the simulation graph.

7. A management device for a nonlinear reduced-order passive observer, characterized in that: The device comprises: An equation reduction module is used to obtain a third-order state space equation of the permanent magnet synchronous motor under the dq coordinate axis, and reduce the third-order state space equation to obtain a second-order state space equation of the permanent magnet synchronous motor; A reduced-order acquisition module, used for acquiring a first state-space equation of a nonlinear reduced-order observer using a state feedback method according to the second-order state-space equation; An error acquisition module, used for acquiring a state error dynamic equation according to the second-order state space equation and the first state space equation; The passive acquisition module is used to acquire a nonlinear reduced-order passive observer according to the state error dynamic equation and the actual parameters of the motor.

8. A management device for a nonlinear reduced-order passive observer, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the management method of the nonlinear reduced-order passive observer according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the management method of the nonlinear reduced-order passive observer according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the management method of the nonlinear reduced-order passive observer according to any one of claims 1 to 6 is implemented.

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