Twelve-phase permanent magnet synchronous motor sub-working-condition parameter identification method and device

Abstract

The invention provides a twelve-phase permanent magnet synchronous motor sub-working-condition parameter identification method and device. The method comprises the steps of calculating a direct current estimation value and an alternating current estimation value of a motor winding of a current beat current according to preset parameters; calculating an inductance estimation value of the current beat by using a direct current value, an alternating current value, a direct-axis voltage value, a quadrature-axis voltage value, a direct current estimation value and an alternating current estimation value of the motor winding; calculating a resistance estimation value of the current beat according to the inductance estimation value; a permanent magnet flux linkage amplitude estimation value of the current beat is calculated according to the resistance estimation value; and outputting an inductance estimation value, a resistance estimation value and a permanent magnet flux linkage amplitude estimation value corresponding to each working condition according to different working conditions. According to the method, different-working-condition parameter identification is carried out on the complex twelve-phase permanent magnet synchronous motor based on the model reference adaptive method, the under-rank problem existing in traditional parameter identification is effectively solved, and the accuracy of motor parameter identification is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of servo control, and in particular to a method and device for identifying working condition parameters of a twelve-phase permanent magnet synchronous motor. Background Art

[0002] Permanent magnet synchronous linear motors have become popular in all walks of life after their birth due to their simple structure and stable operation. Drive systems based on permanent magnet synchronous linear motors are widely used in electromechanical equipment, transportation, office automation equipment and other fields, and more and more research is being conducted on permanent magnet synchronous linear motors. Compared with traditional permanent magnet synchronous rotating motors, the windings and the mover tracks of linear motors are distributed in a straight line, which gives them excellent stability and precision. They are now widely used in the manufacturing of high-precision industries. While permanent magnet synchronous linear motors are used in industries such as transportation, permanent magnet synchronous linear motors also have good application prospects for high-difficulty launch methods such as electromagnetic catapults. When permanent magnet synchronous linear motors are widely used, the identification of their parameters becomes the core. However, in the prior art, the parameter identification schemes for advanced twelve-phase permanent magnet synchronous motors have a lack of rank problem, and the accuracy of motor parameter identification is not high enough. Summary of the invention

[0003] The present invention aims to provide a method and device for identifying parameters of a twelve-phase permanent magnet synchronous motor under different operating conditions, which overcomes the above problems or at least partially solves the above problems.

[0004] To achieve the above object, the technical solution of the present invention is specifically implemented as follows:

[0005] One aspect of the present invention provides a method for identifying parameters of a twelve-phase permanent magnet synchronous motor under different operating conditions, comprising:

[0006] Constructing a motor parameter model and setting preset parameters, wherein the preset parameters include: an initial value of a winding inductance of a twelve-phase permanent magnet synchronous motor, an initial value of a winding resistance, an initial value of a permanent magnet flux amplitude, and a K parameter;

[0007] Calculate the estimated DC current value of the motor winding and the estimated AC current value of the motor winding of the current beat current;

[0008] Acquire input parameters of the current beat, wherein the input parameters include: a DC current value of a motor winding, an AC current value of a motor winding, a direct-axis voltage value of a motor winding, and a quadrature-axis voltage value of a motor winding; calculate an estimated inductance value of the current beat by using the motor parameter model using the input parameters and an estimated DC current value of the motor winding and an estimated AC current value of the motor winding;

[0009] Calculating a resistance estimate of a current beat according to the inductance estimate using the motor parameter model;

[0010] Calculate the permanent magnet flux linkage amplitude estimate of the current beat according to the resistance estimate through the motor parameter model;

[0011] The estimated value of inductance, the estimated value of resistance and the estimated value of permanent magnet flux amplitude corresponding to each working condition are output according to different working conditions.

[0012] Optionally, constructing the motor parameter model includes:

[0013] Construct the following motor parameter model:

[0014] in,

[0015] in, i d is the direct axis current of the motor winding, i q is the quadrature axis current of the motor winding, A, B, C are the coefficients of the model equation, R is the resistance of the motor winding, L is the inductance of the motor winding, u d is the direct axis voltage of the motor winding, u q is the quadrature axis voltage of the motor winding, Ψ m is the permanent magnet flux amplitude of the motor, L0 is the initial value of the motor winding inductance, and ω is the rotor speed of the motor.

[0016] Optionally, calculating the estimated inductance value of the current beat by using the motor parameter model using the input parameters and the estimated DC current value of the motor winding and the estimated AC current value of the motor winding includes:

[0017] The estimated inductance of the current beat is calculated using the following formula:

[0018]

[0019] in, is the estimated value of inductance, is the estimated DC current of the motor winding, is the estimated value of the AC current in the motor winding.

[0020] Optionally, calculating the estimated resistance value of the current beat according to the estimated inductance value using the motor parameter model includes:

[0021] The resistance estimate is calculated using the following formula:

[0022]

[0023] in, is the estimated value of resistance.

[0024] Optionally, calculating the current beat permanent magnet flux linkage amplitude estimation value according to the resistance estimation value through the motor parameter model includes:

[0025] The estimated value of the permanent magnet flux amplitude is calculated by the following formula:

[0026]

[0027] in, is the estimated value of the permanent magnet flux amplitude.

[0028] Another aspect of the present invention provides a twelve-phase permanent magnet synchronous motor parameter identification device for different working conditions, comprising:

[0029] A construction module is used to construct a motor parameter model and set preset parameters, wherein the preset parameters include: an initial value of a winding inductance of a twelve-phase permanent magnet synchronous motor, an initial value of a winding resistance, an initial value of a permanent magnet flux amplitude, and a K parameter;

[0030] A calculation module, used to calculate the DC current estimate value of the motor winding and the AC current estimate value of the motor winding of the current beat; obtain the input parameters of the current beat, the output parameters include: the DC current value of the motor winding, the AC current value of the motor winding, the direct-axis voltage value of the motor winding and the quadrature-axis voltage value of the motor winding, and calculate the inductance estimate value of the current beat by using the input parameters and the DC current estimate value of the motor winding and the AC current estimate value of the motor winding through the motor parameter model; calculate the resistance estimate value of the current beat according to the inductance estimate value through the motor parameter model; calculate the permanent magnet flux amplitude estimate value of the current beat according to the resistance estimate value through the motor parameter model;

[0031] The output module is used to output the estimated value of inductance, the estimated value of resistance and the estimated value of permanent magnet flux amplitude corresponding to each working condition according to different working conditions.

[0032] Optionally, the building module builds the motor parameter model in the following manner:

[0033] Construct the following motor parameter model:

[0034] in,

[0035] in, i d is the direct axis current of the motor winding, i q is the quadrature axis current of the motor winding, A, B, C are the coefficients of the model equation, R is the resistance of the motor winding, L is the inductance of the motor winding, u d is the direct axis voltage of the motor winding, uq is the quadrature axis voltage of the motor winding, Ψ m is the permanent magnet flux amplitude of the motor, L0 is the initial value of the motor winding inductance, and ω is the rotor speed of the motor.

[0036] Optionally, the calculation module calculates the estimated inductance value of the current beat by using the motor parameter model using the input parameters and the estimated DC current value of the motor winding and the estimated AC current value of the motor winding in the following manner:

[0037] The estimated inductance of the current beat is calculated using the following formula:

[0038]

[0039] in, is the estimated value of inductance, is the estimated DC current of the motor winding, is the estimated value of the AC current in the motor winding.

[0040] Optionally, the calculation module calculates the resistance estimation value of the current beat according to the inductance estimation value by using the motor parameter model in the following manner:

[0041] The resistance estimate is calculated using the following formula:

[0042]

[0043] in, is the estimated value of resistance.

[0044] Optionally, the calculation module calculates the current permanent magnet flux amplitude estimate value according to the resistance estimate value through the motor parameter model in the following manner:

[0045] The estimated value of the permanent magnet flux amplitude is calculated by the following formula:

[0046]

[0047] in, is the estimated value of the permanent magnet flux amplitude.

[0048] It can be seen that the method and device for identifying the operating condition parameters of the twelve-phase permanent magnet synchronous motor provided by the present invention perform operating condition parameter identification for the complex twelve-phase permanent magnet synchronous motor based on the model reference adaptive method, which effectively solves the lack of rank problem existing in traditional parameter identification and improves the accuracy of motor parameter identification. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0050] Figure 1 A flow chart of a method for identifying parameters of a twelve-phase permanent magnet synchronous motor under different operating conditions provided by an embodiment of the present invention;

[0051] Figure 2 An inductance identification curve diagram under load provided by an embodiment of the present invention;

[0052] Figure 3 A resistance identification curve diagram under load provided by an embodiment of the present invention;

[0053] Figure 4 A schematic diagram of the structure of a twelve-phase permanent magnet synchronous motor operating condition parameter identification device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0054] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0055] Figure 1 FIG. 1 is a flow chart showing a method for identifying parameters of a twelve-phase permanent magnet synchronous motor under different operating conditions provided by an embodiment of the present invention. Figure 1 The embodiment of the present invention provides a method for identifying parameters of a twelve-phase permanent magnet synchronous motor under different working conditions, comprising:

[0056] S1, constructing a motor parameter model and setting preset parameters, wherein the preset parameters include: an initial value of the winding inductance of the twelve-phase permanent magnet synchronous motor, an initial value of the winding resistance, an initial value of the permanent magnet flux amplitude, and a K parameter.

[0057] Specifically, the parameters of the twelve-phase permanent magnet synchronous linear motor are given in Table 1:

[0058] Table 1 Parameter comparison table of twelve-phase permanent magnet synchronous linear motor

[0059]

[0060] The parameters of the Lyapunov identifier are set as: K L =5000, K R =5000, KPhi =50.

[0061] As an optional implementation of the embodiment of the present invention, constructing the motor parameter model includes:

[0062] Construct the following motor parameter model:

[0063] in,

[0064] in, i d is the direct axis current of the motor winding, i q is the quadrature axis current of the motor winding, A, B, C are the coefficients of the model equation, R is the resistance of the motor winding, L is the inductance of the motor winding, u d is the direct axis voltage of the motor winding, u q is the quadrature axis voltage of the motor winding, Ψ m is the permanent magnet flux amplitude of the motor, L0 is the initial value of the motor winding inductance, and ω is the rotor speed of the motor.

[0065] where u q and u d is the actual input signal of the motor.

[0066] S2, calculating the DC current estimation value of the motor winding and the AC current estimation value of the motor winding of the current beat current.

[0067] Specifically, the estimated value can be calculated by q and u d is the actual input signal of the motor and the motor windings are estimated.

[0068] S3, obtaining the input parameters of the current beat, the input parameters include: the DC current value of the motor winding, the AC current value of the motor winding, the direct-axis voltage value of the motor winding and the quadrature-axis voltage value of the motor winding; calculating the estimated inductance value of the current beat through the motor parameter model using the input parameters and the DC current estimated value of the motor winding and the AC current estimated value of the motor winding.

[0069] As an optional implementation of the embodiment of the present invention, calculating the estimated inductance value of the current beat by using the motor parameter model using the input parameters and the estimated DC current value of the motor winding and the estimated AC current value of the motor winding includes:

[0070] The estimated inductance of the current beat is calculated using the following formula:

[0071]

[0072] in, is the estimated value of inductance, is the estimated DC current of the motor winding, is the estimated value of the AC current in the motor winding.

[0073] S4, calculating the resistance estimation value of the current beat according to the inductance estimation value through the motor parameter model;

[0074] As an optional implementation of the embodiment of the present invention, calculating the estimated resistance value of the current beat according to the estimated inductance value using the motor parameter model includes:

[0075] Calculate the estimated resistance using the following formula:

[0076]

[0077] in, is the estimated value of resistance.

[0078] S5, calculating the current beat permanent magnet flux amplitude estimate value according to the resistance estimate value through the motor parameter model.

[0079] As an optional implementation of the embodiment of the present invention, calculating the current beat permanent magnet flux amplitude estimation value according to the resistance estimation value through the motor parameter model includes:

[0080] The estimated value of the permanent magnet flux amplitude is calculated by the following formula:

[0081]

[0082] in, is the estimated value of the permanent magnet flux amplitude.

[0083] S6, outputting the estimated inductance value, the estimated resistance value and the estimated permanent magnet flux amplitude value corresponding to each working condition according to different working conditions.

[0084] Specifically, the present invention can output operating condition parameters of a twelve-phase permanent magnet synchronous motor under different operating conditions, and can provide estimated values ​​of inductance, resistance and permanent magnet flux amplitude under different operating conditions.

[0085] The identification values ​​obtained by the method for identifying parameters of a twelve-phase permanent magnet synchronous motor under different working conditions according to the present invention are described below through Table 2:

[0086] Table 2 Model reference adaptive identification algorithm single working condition simulation results

[0087]

[0088] The present invention performs identification of different working conditions:

[0089] The identification results of the motor flux are accurate under no-load conditions, and the identification results of the motor winding inductance are accurate under loaded conditions. The execution steps of the identification algorithm are refined, and the motor flux amplitude results with accurate identification results during no-load identification are fixed as constant values. Then the motor is placed under load and the obtained load identification simulation results are as follows: Figure 2 and Figure 3 shown.

[0090] It can be seen that the method for identifying operating condition parameters of a twelve-phase permanent magnet synchronous motor provided by an embodiment of the present invention performs operating condition parameter identification on a complex twelve-phase permanent magnet synchronous motor based on a model reference adaptive method, effectively solves the lack-rank problem existing in traditional parameter identification, and improves the accuracy of motor parameter identification.

[0091] Figure 4 The structure diagram of the device for identifying the working condition parameters of a twelve-phase permanent magnet synchronous motor provided by an embodiment of the present invention is shown. The device for identifying the working condition parameters of a twelve-phase permanent magnet synchronous motor applies the above method. The following is a brief description of the structure of the device for identifying the working condition parameters of a twelve-phase permanent magnet synchronous motor. For other matters not covered, please refer to the relevant description in the method for identifying the working condition parameters of a twelve-phase permanent magnet synchronous motor. Figure 4 The embodiment of the present invention provides a twelve-phase permanent magnet synchronous motor parameter identification device for different working conditions, comprising:

[0092] A construction module is used to construct a motor parameter model and set preset parameters, wherein the preset parameters include: an initial value of the winding inductance of the twelve-phase permanent magnet synchronous motor, an initial value of the winding resistance, an initial value of the permanent magnet flux amplitude, and a K parameter;

[0093] A calculation module is used to calculate the DC current estimate value of the motor winding and the AC current estimate value of the motor winding of the current beat; obtain the input parameters of the current beat, and the output parameters include: the DC current value of the motor winding, the AC current value of the motor winding, the direct-axis voltage value of the motor winding, and the quadrature-axis voltage value of the motor winding; calculate the inductance estimate value of the current beat by using the input parameters and the DC current estimate value of the motor winding and the AC current estimate value of the motor winding through the motor parameter model; calculate the resistance estimate value of the current beat according to the inductance estimate value through the motor parameter model; calculate the permanent magnet flux amplitude estimate value of the current beat according to the resistance estimate value through the motor parameter model;

[0094] The output module is used to output the estimated inductance value, the estimated resistance value and the estimated permanent magnet flux amplitude value corresponding to each working condition according to different working conditions.

[0095] As an optional implementation of the embodiment of the present invention, the construction module constructs the motor parameter model in the following manner:

[0096] Construct the following motor parameter model:

[0097] in,

[0098] in, i d is the direct axis current of the motor winding, i q is the quadrature axis current of the motor winding, A, B, C are the coefficients of the model equation, R is the resistance of the motor winding, L is the inductance of the motor winding, u d is the direct axis voltage of the motor winding, u q is the quadrature axis voltage of the motor winding, Ψ m is the permanent magnet flux amplitude of the motor, L0 is the initial value of the motor winding inductance, and ω is the rotor speed of the motor.

[0099] As an optional implementation of the embodiment of the present invention, the calculation module calculates the estimated inductance value of the current beat by using the motor parameter model using the input parameters and the estimated DC current value of the motor winding and the estimated AC current value of the motor winding in the following manner:

[0100] The estimated inductance of the current beat is calculated using the following formula:

[0101]

[0102] in, is the estimated value of inductance, is the estimated DC current of the motor winding, is the estimated value of the AC current in the motor winding.

[0103] As an optional implementation of the embodiment of the present invention, the calculation module calculates the estimated resistance value of the current beat according to the estimated inductance value through the motor parameter model in the following manner:

[0104] Calculate the estimated resistance using the following formula:

[0105]

[0106] in, is the estimated value of resistance.

[0107] As an optional implementation of the embodiment of the present invention, the calculation module calculates the current beat permanent magnet flux amplitude estimation value according to the resistance estimation value through the motor parameter model in the following manner:

[0108] The estimated value of the permanent magnet flux amplitude is calculated by the following formula:

[0109]

[0110] in, is the estimated value of the permanent magnet flux amplitude.

[0111] It can be seen that the twelve-phase permanent magnet synchronous motor operating condition parameter identification device provided by the embodiment of the present invention performs operating condition parameter identification for a complex twelve-phase permanent magnet synchronous motor based on the model reference adaptive method, effectively solves the lack of rank problem existing in traditional parameter identification, and improves the accuracy of motor parameter identification.

[0112] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for identifying parameters of a twelve-phase permanent magnet synchronous motor under different working conditions, characterized in that: include: Constructing a motor parameter model and setting preset parameters, wherein the preset parameters include: an initial value of a winding inductance of a twelve-phase permanent magnet synchronous motor, an initial value of a winding resistance, an initial value of a permanent magnet flux amplitude, and a K parameter; Calculate the estimated DC current value of the motor winding and the estimated AC current value of the motor winding of the current beat current; Acquire input parameters of the current beat, wherein the input parameters include: a DC current value of a motor winding, an AC current value of a motor winding, a direct-axis voltage value of a motor winding, and a quadrature-axis voltage value of a motor winding; calculate an estimated inductance value of the current beat by using the motor parameter model using the input parameters and an estimated DC current value of the motor winding and an estimated AC current value of the motor winding; Calculating a resistance estimate of a current beat according to the inductance estimate using the motor parameter model; Calculate the permanent magnet flux linkage amplitude estimate of the current beat according to the resistance estimate value through the motor parameter model; The estimated value of inductance, the estimated value of resistance and the estimated value of permanent magnet flux amplitude corresponding to each working condition are output according to different working conditions.

2. The method according to claim 1, characterized in that The motor parameter model is constructed as follows: Construct the following motor parameter model: in, in, i d is the direct axis current of the motor winding, i q is the quadrature axis current of the motor winding, A, B, C are the coefficients of the model equation, R is the resistance of the motor winding, L is the inductance of the motor winding, u d is the direct axis voltage of the motor winding, u q is the quadrature axis voltage of the motor winding, Ψ m is the permanent magnet flux amplitude of the motor, L0 is the initial value of the motor winding inductance, and ω is the rotor speed of the motor.

3. The method according to claim 2, characterized in that The step of calculating the estimated inductance value of the current beat by using the motor parameter model and the input parameters, the estimated DC current value of the motor winding, and the estimated AC current value of the motor winding comprises: The estimated inductance of the current beat is calculated using the following formula: in, is the estimated value of inductance, is the estimated DC current of the motor winding, is the estimated value of the AC current in the motor winding.

4. The method according to claim 3, characterized in that Calculating the resistance estimation value of the current beat according to the inductance estimation value by using the motor parameter model includes: The resistance estimate is calculated using the following formula: in, is the estimated value of resistance.

5. The method according to claim 4, characterized in that The calculating the current permanent magnet flux amplitude estimation value according to the resistance estimation value by using the motor parameter model comprises: The estimated value of the permanent magnet flux amplitude is calculated by the following formula: in, is the estimated value of the permanent magnet flux amplitude.

6. A twelve-phase permanent magnet synchronous motor parameter identification device for different working conditions, characterized in that: include: A construction module is used to construct a motor parameter model and set preset parameters, wherein the preset parameters include: an initial value of a winding inductance of a twelve-phase permanent magnet synchronous motor, an initial value of a winding resistance, an initial value of a permanent magnet flux amplitude, and a K parameter; A calculation module, used to calculate the DC current estimate value of the motor winding and the AC current estimate value of the motor winding of the current beat; obtain the input parameters of the current beat, the output parameters include: the DC current value of the motor winding, the AC current value of the motor winding, the direct-axis voltage value of the motor winding and the quadrature-axis voltage value of the motor winding, and calculate the inductance estimate value of the current beat by using the input parameters and the DC current estimate value of the motor winding and the AC current estimate value of the motor winding through the motor parameter model; calculate the resistance estimate value of the current beat according to the inductance estimate value through the motor parameter model; calculate the permanent magnet flux amplitude estimate value of the current beat according to the resistance estimate value through the motor parameter model; The output module is used to output the estimated value of inductance, the estimated value of resistance and the estimated value of permanent magnet flux amplitude corresponding to each working condition according to different working conditions.

7. The device according to claim 6, characterized in that The building module builds the motor parameter model in the following way: Construct the following motor parameter model: in, in, i d is the direct axis current of the motor winding, i q is the quadrature axis current of the motor winding, A, B, C are the coefficients of the model equation, R is the resistance of the motor winding, L is the inductance of the motor winding, u d is the direct axis voltage of the motor winding, u q is the quadrature axis voltage of the motor winding, Ψ m is the permanent magnet flux amplitude of the motor, L0 is the initial value of the motor winding inductance, and ω is the rotor speed of the motor.

8. The device according to claim 7, characterized in that The calculation module calculates the estimated inductance value of the current beat by using the input parameters, the estimated DC current value of the motor winding, and the estimated AC current value of the motor winding through the motor parameter model in the following manner: The estimated inductance of the current beat is calculated using the following formula: in, is the estimated value of inductance, is the estimated DC current of the motor winding, is the estimated value of the AC current in the motor winding.

9. The device according to claim 8, characterized in that The calculation module calculates the resistance estimation value of the current beat according to the inductance estimation value by using the motor parameter model in the following manner: The resistance estimate is calculated using the following formula: in, is the estimated value of resistance.

10. The device according to claim 9, characterized in that The calculation module calculates the current permanent magnet flux amplitude estimation value according to the resistance estimation value through the motor parameter model in the following manner: The estimated value of the permanent magnet flux amplitude is calculated by the following formula: in, is the estimated value of the permanent magnet flux amplitude.

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