Current response control system and method for permanent magnet synchronous motor

Abstract

The invention discloses a permanent magnet synchronous motor current response control system and method. The system comprises a simulation inverter, a simulation sine wave filter, a simulation permanent magnet synchronous motor and a current controller, wherein the simulation inverter, the simulation sine wave filter and the simulation permanent magnet synchronous motor are connected in sequence; the current controller is used for determining d-axis current estimation data and q-axis current estimation data of the simulation motor according to the obtained d-axis and q-axis current actual data and flux linkage data of the simulation motor; and determining d-axis voltage data and q-axis voltage data of the simulation inverter according to the d-axis current estimation data and the q-axis current estimation data of the simulation motor, and further eliminating resonance by using a wave trap. The current can be controlled through the d-axis voltage data and the q-axis voltage data of the simulation inverter after the resonance waves are filtered out, the response speed of the motor current is increased, and the influence of the resonance peak is eliminated.

Description

Technical Field

[0001] The present invention relates to the technical field of permanent magnet synchronous motor control methods, and particularly relates to a current response control system and method for a permanent magnet synchronous motor. Background Art

[0002] At present, a permanent magnet synchronous motor (PMSM) is usually controlled by a pulse modulation voltage output by a three-phase inverter. In some cases, the pulse modulation voltage will have a negative impact on the motor. For example, reflected overvoltage will be generated on long cables, current distortion will be generated on high-speed motors, and common-mode current will be generated on bearings. Therefore, a sine wave filter needs to be connected to the output end of the inverter to suppress the above-mentioned negative impacts.

[0003] Since the sine wave filter is connected to the output end of the inverter and then the PMSM, the order of the transfer function of the PMSM current to the inverter output voltage rises to the third order, thus deteriorating the current control performance of the PMSM. In addition, a resonance peak depending on the system parameters appears in the transfer function of the PMSM current. To solve the above problems, the prior art generally adopts the method of reducing the current loop bandwidth to suppress resonance, but this method makes the motor current response slower, and then the overall control performance decreases. Therefore, there is an urgent need for a method to solve the problems of resonance and dynamic performance degradation existing in the motor current response due to the connection of the sine wave filter. Summary of the Invention

[0004] In view of the above problems, the present invention is proposed to provide a current response control system for a permanent magnet synchronous motor that overcomes or at least partially solves the above problems.

[0005] In a first aspect, an embodiment of the present invention provides a current response control system for a permanent magnet synchronous motor, the system includes: a simulation inverter, a simulation sine wave filter, and a simulation permanent magnet synchronous motor, the simulation inverter, the simulation sine wave filter, and the simulation permanent magnet synchronous motor are connected in sequence; characterized in that, the system further includes: a current controller;

[0006] The current controller is used to obtain the actual data of multiple parameters of the simulated permanent magnet synchronous motor in the system. The parameters of the simulated permanent magnet synchronous motor include d-axis current, q-axis current, and magnetic flux. The d-axis is in the same direction as the rotor magnetic field direction of the permanent magnet synchronous motor, and the q-axis is perpendicular to the d-axis. According to the actual d-axis current data, q-axis current data, and magnetic flux data of the simulated permanent magnet synchronous motor, the estimated d-axis current data of the simulated permanent magnet synchronous motor and the estimated q-axis current data of the simulated permanent magnet synchronous motor are determined. According to the estimated d-axis current data of the simulated permanent magnet synchronous motor and the estimated q-axis current data of the simulated permanent magnet synchronous motor, the d-axis voltage data of the simulated inverter and the q-axis voltage data of the simulated inverter are determined. According to the d-axis voltage data of the simulated inverter, the q-axis voltage data of the simulated inverter, and the constructed notch filter, the d-axis voltage data of the simulated inverter with the resonant wave filtered out and the q-axis voltage data of the inverter are obtained.

[0007] In one embodiment, the current controller includes an extended state observer and a motor current auto-disturbance rejection controller.

[0008] The extended state observer is used to obtain the actual data of multiple parameters of the permanent magnet synchronous motor in the system. According to the actual d-axis current data, q-axis current data, and magnetic flux data of the permanent magnet synchronous motor, the estimated d-axis current data of the permanent magnet synchronous motor and the estimated q-axis current data of the permanent magnet synchronous motor are determined.

[0009] The motor current auto-disturbance rejection controller is used to determine the d-axis voltage data of the simulated inverter and the q-axis voltage data of the simulated inverter according to the estimated d-axis current data of the permanent magnet synchronous motor and the estimated q-axis current data of the permanent magnet synchronous motor.

[0010] In one embodiment, the extended state observer is pre-constructed in the following manner:

[0011] The extended state observer is constructed according to the d-axis current, q-axis current, magnetic flux of the simulated permanent magnet synchronous motor, and multiple pre-constructed system parameters.

[0012] In one embodiment, the parameters of the simulated permanent magnet synchronous motor further include electrical angular velocity, d-axis inductance, and q-axis inductance. The parameters of the simulated sine wave filter include inductance, inductance resistance, and capacitance.

[0013] The multiple system parameters are constructed in the following manner:

[0014] According to the electrical angular velocity, d-axis inductance, and q-axis inductance of the simulated permanent magnet synchronous motor, and the inductance, inductance resistance, and capacitance of the simulated sine wave filter, the expression of each system parameter is constructed respectively.

[0015] Accordingly, the electrical angular velocity data, d-axis inductance data, and q-axis inductance data of the simulated permanent magnet synchronous motor, as well as the inductance data, inductance resistance data, and capacitance data of the simulated sine wave filter, are substituted into the expression of the system parameters to determine the data of each system parameter respectively.

[0016] In one embodiment, the motor current auto-disturbance rejection controller is pre-constructed in the following manner:

[0017]

[0018] In the above formula, u id represents the d-axis voltage output by the simulated inverter, and k pd is the control gain of the d-axis auto-disturbance rejection controller of the simulated permanent magnet synchronous motor. u iq represents the q-axis voltage output by the simulated inverter, and k pq is the control gain of the q-axis auto-disturbance rejection controller of the simulated permanent magnet synchronous motor. f d is the total disturbance of the d-axis of the system, and f q is the total disturbance of the q-axis of the system.

[0019] In one embodiment, determining the d-axis voltage data of the simulated inverter and the q-axis voltage data of the inverter according to the d-axis current estimation data of the simulated permanent magnet synchronous motor and the q-axis current estimation data of the simulated permanent magnet synchronous motor includes:

[0020] Obtain the reference data of the d-axis current of the simulated permanent magnet synchronous motor and the reference data of the q-axis current of the simulated permanent magnet synchronous motor;

[0021] Determine the total disturbance data of the d-axis of the system and the total disturbance data of the q-axis of the system;

[0022] Substitute the d-axis current estimation data of the simulated permanent magnet synchronous motor, the reference data of the d-axis current of the simulated permanent magnet synchronous motor, and the total disturbance data of the d-axis of the system into the motor current auto-disturbance rejection controller for solution to obtain the d-axis direction voltage data of the inverter in the system;

[0023] Substitute the q-axis current estimation data of the simulated permanent magnet synchronous motor, the reference data of the q-axis current of the simulated permanent magnet synchronous motor, and the total disturbance data of the q-axis of the system into the motor current auto-disturbance rejection controller for solution to obtain the q-axis direction voltage data of the inverter in the system.

[0024] In one embodiment, determining the total disturbance data of the d-axis of the system and the total disturbance data of the q-axis of the system includes:

[0025] The extended state observer is further configured to determine the total d-axis disturbance data of the system according to the d-axis disturbance estimation data of the system and the actual data of the d-axis current of the permanent magnet synchronous motor; and determine the total q-axis disturbance data of the system according to the q-axis disturbance estimation data of the system, the actual data of the q-axis current of the simulated permanent magnet synchronous motor, and the flux linkage data.

[0026] In one embodiment, the motor current active disturbance rejection controller further includes a notch filter;

[0027] The notch filter is configured to multiply the transfer function of the notch filter by the d-axis direction voltage data of the inverter to obtain the d-axis voltage data of the simulated inverter with the resonant wave filtered out; and multiply the transfer function of the notch filter by the q-axis direction voltage data of the simulated inverter to obtain the q-axis voltage data of the inverter with the resonant wave filtered out.

[0028] In one embodiment, the notch filter is constructed by the following method:

[0029] Determine the resonant angular frequency of the system according to the inductance data and capacitance data of the simulated sine wave filter and the phase inductance data of the simulated permanent magnet synchronous motor;

[0030] Construct a notch filter according to the resonant angular frequency.

[0031] In a second aspect, an embodiment of the present invention provides a method for controlling the current response of a permanent magnet synchronous motor. The method is implemented by the permanent magnet synchronous motor current response control system according to any one of claims 1-9, and includes:

[0032] Obtain the actual data of multiple parameters of the simulated permanent magnet synchronous motor in the system. The parameters of the simulated permanent magnet synchronous motor include the d-axis current, the q-axis current, and the flux linkage. The d-axis is in the same direction as the rotor magnetic field direction of the simulated permanent magnet synchronous motor, and the q-axis is perpendicular to the d-axis;

[0033] Determine the estimated d-axis current data of the simulated permanent magnet synchronous motor and the estimated q-axis current data of the simulated permanent magnet synchronous motor according to the actual d-axis current data, the actual q-axis current data, and the flux linkage data of the simulated permanent magnet synchronous motor;

[0034] Determine the d-axis voltage data of the simulated inverter and the q-axis voltage data of the inverter according to the estimated d-axis current data of the simulated permanent magnet synchronous motor and the estimated q-axis current data of the simulated permanent magnet synchronous motor; and obtain the d-axis voltage data of the simulated inverter with the resonant wave filtered out and the q-axis voltage data of the simulated inverter with the resonant wave filtered out according to the d-axis voltage data of the simulated inverter, the q-axis voltage data of the simulated inverter, and the constructed notch filter.

[0035] The beneficial effects of the above technical solutions provided by the embodiments of the present invention at least include:

[0036] The permanent magnet synchronous motor current response control system provided by the embodiments of the present invention connects one end of a simulation inverter, a simulation sine wave filter, and a simulation permanent magnet synchronous motor in sequence. One end of the simulation permanent magnet synchronous motor is electrically connected to a current controller. The current controller obtains the actual d-axis current data, q-axis current data, and flux linkage data of the simulation permanent magnet synchronous motor, and obtains the estimated current data of the d-axis of the simulation permanent magnet synchronous motor and the estimated current data of the q-axis of the simulation permanent magnet synchronous motor. According to the estimated current data of the d-axis of the simulation permanent magnet synchronous motor and the estimated current data of the q-axis of the simulation permanent magnet synchronous motor, the d-axis voltage data and q-axis voltage data of the simulation inverter are determined. According to the d-axis voltage data and q-axis voltage data of the simulation inverter and the constructed notch filter, the d-axis voltage data and q-axis voltage data of the simulation inverter with the resonant wave eliminated are obtained. Furthermore, the d-axis current of the simulation permanent magnet synchronous motor is controlled by the d-axis voltage data of the simulation inverter with the resonant wave eliminated, and the q-axis current of the simulation permanent magnet synchronous motor is controlled by the q-axis voltage data of the simulation inverter with the resonant wave eliminated, ensuring that the resonant wave in the motor current is eliminated while improving the current response speed of the permanent magnet synchronous motor, solving the problem in the prior art that reducing the current loop bandwidth is used to suppress resonance, resulting in a slower motor torque response, and improving the overall control performance.

[0037] Other features and advantages of the present invention will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained by the structures specifically pointed out in the written specification, claims, and drawings.

[0038] The technical solutions of the present invention will be further described in detail below with reference to the drawings and embodiments. Description of the Drawings

[0039] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention. In the drawings:

[0040] Figure 1 is one of the structural schematic diagrams of the permanent magnet synchronous motor current response control system in Embodiment 1 of the present invention;

[0041] Figure 2 is the method flowchart for constructing the expression of each system parameter in Embodiment 1 of the present invention;

[0042] Figure 3Flowchart for determining d-axis voltage data and q-axis voltage data of the inverter in Embodiment 1 of the present invention;

[0043] Figure 4 Second structural schematic diagram of the permanent magnet synchronous motor current response control system in Embodiment 1 of the present invention;

[0044] Figure 5 First waveform diagram of the current tracking step signal in Embodiment 1 of the present invention;

[0045] Figure 6 Second waveform diagram of the current tracking step signal in Embodiment 1 of the present invention;

[0046] Figure 7 First flowchart of the permanent magnet synchronous motor current response control method in Embodiment 2 of the present invention;

[0047] Figure 8 Second flowchart of the permanent magnet synchronous motor current response control method in the embodiments of the present invention. Detailed implementation manners

[0048] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the 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 so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be completely conveyed to those skilled in the art.

[0049] To solve the problem in the prior art that suppressing resonance by reducing the current loop bandwidth results in a slower motor torque response, an embodiment of the present invention provides a permanent magnet synchronous motor current response control system and method.

[0050] Embodiment 1

[0051] An embodiment of the present invention provides a permanent magnet synchronous motor current response control system, the process of which is as Figure 1 shown, including: a simulation inverter, a simulation sine wave filter, and a simulation permanent magnet synchronous motor (hereinafter referred to as "simulation motor"), one ends of the simulation inverter, the simulation sine wave filter (optionally, the simulation sine wave filter selects an LC filter), and the simulation permanent magnet synchronous motor are connected in sequence; further including: a current controller;

[0052] The current controller is used to obtain the actual data of multiple parameters of the permanent magnet synchronous motor in the system. The parameters of the simulated permanent magnet synchronous motor include the d-axis current, q-axis current, and magnetic flux. The d-axis is in the same direction as the rotor magnetic field direction of the simulated permanent magnet synchronous motor, and the q-axis is perpendicular to the d-axis. According to the actual d-axis current data, q-axis current data, and magnetic flux data of the simulated permanent magnet synchronous motor, the estimated d-axis current data of the simulated permanent magnet synchronous motor and the estimated q-axis current data of the simulated permanent magnet synchronous motor are determined. According to the estimated d-axis current data of the simulated permanent magnet synchronous motor and the estimated q-axis current data of the simulated permanent magnet synchronous motor, the d-axis voltage data and q-axis voltage data of the simulated inverter are determined. According to the d-axis voltage data of the simulated inverter, the q-axis voltage data of the simulated inverter, and the constructed notch filter, the d-axis voltage data and q-axis voltage data of the simulated inverter with the resonant wave filtered out are obtained.

[0053] The simulated inverter, the simulated sine wave filter, and the simulated permanent magnet synchronous motor are connected in sequence. By combining the control strategy for controlling the d-axis and q-axis voltage data of the simulated inverter with the control strategy of the notch filter, the resonance phenomenon during the current control of the simulated permanent magnet synchronous motor with the simulated sine wave filter is eliminated, and the current loop bandwidth of the simulated motor can be increased, realizing the improvement of the current dynamic response quality and anti-interference performance of the permanent magnet synchronous motor, and achieving high-quality vector control of the simulated permanent magnet synchronous motor with the simulated sine wave filter.

[0054] In some alternative embodiments, the current controller includes an extended state observer and a motor current auto-disturbance rejection controller;

[0055] The extended state observer is used to obtain the actual data of multiple parameters of the simulated permanent magnet synchronous motor in the system. According to the actual d-axis current data, q-axis current data, and magnetic flux data of the simulated permanent magnet synchronous motor, the estimated d-axis current data of the simulated permanent magnet synchronous motor and the estimated q-axis current data of the simulated permanent magnet synchronous motor are determined;

[0056] The motor current auto-disturbance rejection controller is used to determine the d-axis voltage data and q-axis voltage data of the simulated inverter according to the estimated d-axis current data of the simulated permanent magnet synchronous motor and the estimated q-axis current data of the simulated permanent magnet synchronous motor.

[0057] In some alternative embodiments, the parameters of the simulated motor and the simulated sine wave filter are obtained. The parameters of the simulated motor include the stator resistance and magnetic flux, and also include the electrical angular velocity, d-axis inductance, and q-axis inductance. The parameters of the simulated sine wave filter include inductance, inductance resistance, and capacitance;

[0058] Multiple system parameters are constructed in the following manner;

[0059] According to the electrical angular velocity, d-axis inductance, and q-axis inductance of the simulated permanent magnet synchronous motor, as well as the inductance, inductance resistance, and capacitance of the simulated sine wave filter, expressions for the system parameters are constructed respectively;

[0060] Specifically, establish the dynamic equation of the LC filter in the rotating coordinate system and the current dynamic equation of the motor in the rotating coordinate system. Based on the dynamic equation of the LC filter and the current dynamic equation of the motor in the rotating coordinate system, construct the total disturbance equation of the motor current with the LC filter in the rotating coordinate system, and then obtain the expressions for the system parameters. For example, as shown in Figure 2 the following steps are implemented:

[0061] Step S21: Establish the dynamic equation of the LC filter in the rotating coordinate system;

[0062] The dynamic equation of the LC filter in the rotating coordinate system is as follows:

[0063]

[0064]

[0065] In formulas (1) and (2), u id represents the d-axis voltage output by the simulated inverter, u iq represents the q-axis voltage output by the simulated inverter, i id represents the d-axis current output by the simulated inverter, which is also the d-axis current of the simulated LC filter inductor, is the first derivative of i id , i iq represents the q-axis current output by the simulated inverter, which is also the q-axis current of the simulated LC filter inductor, is the first derivative of i iq , u fd represents the d-axis voltage output by the simulated LC filter, which is also the d-axis voltage of the simulated LC filter capacitor, is the first derivative of u fd , u fq represents the q-axis voltage output by the simulated LC filter, which is also the q-axis voltage of the simulated LC filter capacitor, is the first derivative of u fq , i fd represents the d-axis current output by the simulated LC filter, which is also the d-axis current of the motor, i fq represents the q-axis current output by the simulated LC filter, which is also the q-axis current of the motor, L f represents the inductance of the simulated LC filter, R f represents the inductance resistance of the simulated LC filter, C f represents the capacitance of the simulated LC filter, ω edenotes the electrical angular velocity, and the meanings of other parameters have been described above. They will not be elaborated in the embodiments of the present invention here.

[0066] Step S22: Establish the current dynamic equation of the motor in the rotating coordinate system;

[0067] The current dynamic equation of the motor in the rotating coordinate system is as follows:

[0068]

[0069] In formula (3), denotes the first derivative of i fd , denotes the first derivative of i fq , L d is the d-axis inductance of the simulated motor, L q is the q-axis inductance of the simulated motor, R s denotes the stator resistance of the simulated motor, ψ m denotes the magnetic flux of the simulated motor. The meanings of other parameters have been described above. They will not be elaborated in the embodiments of the present invention here.

[0070] Step S23: Derive the current dynamic equation of the motor with an LC filter in the rotating coordinate system according to the current dynamic equation of the motor and the dynamic equation of the LC filter;

[0071] The current dynamic equation of the motor with an LC filter is as follows:

[0072]

[0073] In formula (4), f 0d denotes the unknown disturbance term of the d-axis of the system, f 0q denotes the unknown disturbance term of the q-axis of the system, a 1d , a 2d , a 1q , a 2q , a 3q , b 0d and b 0q are system parameters. The expressions of other system parameters are as follows:

[0074]

[0075]

[0076]

[0077]

[0078]

[0079]

[0080]

[0081] The meanings of the parameters in Formula (5) - Formula (11) have been described above, and will not be elaborated in the embodiments of the present invention.

[0082] Correspondingly, the electrical angular velocity data, d-axis inductance data, and q-axis inductance data of the simulated permanent magnet synchronous motor, as well as the inductance data, inductance resistance data, and capacitance data of the simulated sine wave filter, are substituted into the expression of the system parameters to determine the data of each system parameter respectively.

[0083] In some optional embodiments, the extended state observer is pre-constructed in the following manner:

[0084] An extended state observer is constructed according to the d-axis current, q-axis current, magnetic flux of the simulated permanent magnet synchronous motor, and multiple pre-constructed system parameters. The extended state observer is as follows:

[0085]

[0086]

[0087] In Formula (12), z 1d represents the estimated value of i fd , z 2d represents the estimated value of f 0d , and β 1d , β 2d represent the parameters of the d-axis extended state observer.

[0088] In Formula (13), z 1q represents the estimated value of i fq , z 2q represents the estimated value of f 0q , and β 1q , β 2q represent the parameters of the q-axis extended state observer.

[0089] In some optional embodiments, an auto-disturbance rejection controller for motor current is established by using the estimated value of i fd , the estimated value of i fq , the system parameter b 0d , and the system parameter b 0q ;

[0090] For example, the auto-disturbance rejection controller for motor current is pre-constructed in the following manner:

[0091]

[0092] In Formula (14), kpd For simulating the control gain of the d-axis active disturbance rejection controller of a permanent magnet synchronous motor, k pq For simulating the control gain of the q-axis active disturbance rejection controller of a permanent magnet synchronous motor, f d For the total d-axis disturbance of the system, f q For the total q-axis disturbance of the system, Indicates the d-axis current reference value of the motor, Indicates the q-axis current reference value of the motor. The meanings of other parameters in the formula have been described above, and will not be elaborated in the embodiments of the present invention here.

[0093] In some alternative embodiments, determining the total d-axis disturbance data of the system and the total q-axis disturbance data of the system can be achieved through the following method:

[0094] The extended state observer is also used to determine the total d-axis disturbance data of the system according to the d-axis disturbance estimation data of the system and the actual data of the d-axis current of the simulated permanent magnet synchronous motor; and determine the total q-axis disturbance data of the system according to the q-axis disturbance estimation data of the system, the actual data of the q-axis current of the simulated permanent magnet synchronous motor, and the flux linkage data.

[0095] Specifically, define the total d-axis disturbance of the system and the total q-axis disturbance of the system as follows:

[0096]

[0097] The meanings of the parameters in formula (15) have been described above, and will not be elaborated in the embodiments of the present invention here.

[0098] In some alternative embodiments, according to the d-axis current estimation data of the simulated permanent magnet synchronous motor and the q-axis current estimation data of the simulated permanent magnet synchronous motor, determine the d-axis voltage data and the q-axis voltage data of the simulated inverter. Specifically, referring to Figure 3 as shown, it can be achieved through the following method:

[0099] Step S31: Obtain the reference data of the d-axis current of the simulated permanent magnet synchronous motor and the reference data of the q-axis current of the permanent magnet synchronous motor;

[0100] Step S32: Determine the total d-axis disturbance data of the system and the total q-axis disturbance data of the system;

[0101] Step S33: Substitute the d-axis current estimation data of the simulated permanent magnet synchronous motor, the reference data of the d-axis current of the simulated permanent magnet synchronous motor, and the total d-axis disturbance data of the system into the motor current active disturbance rejection controller for solution to obtain the d-axis direction voltage data of the inverter in the system;

[0102] Step S34: Substitute the q-axis current estimation data of the simulated permanent magnet synchronous motor, the reference data of the q-axis current of the simulated permanent magnet synchronous motor, and the total q-axis disturbance data of the system into the motor current auto-disturbance rejection controller for solution to obtain the inverter q-axis direction voltage data in the system.

[0103] In some alternative embodiments, the motor current auto-disturbance rejection controller further includes a notch filter, which is used to multiply the transfer function of the notch filter by the simulated inverter d-axis direction voltage data to obtain the d-axis voltage data of the simulated inverter with the resonance wave filtered out; multiply the transfer function of the notch filter by the simulated inverter q-axis direction voltage data to obtain the q-axis voltage data of the simulated inverter with the resonance wave filtered out.

[0104] In some alternative embodiments, the notch filter is constructed in the following manner:

[0105] Determine the resonance angular frequency of the system according to the inductance data of the sine wave filter, the capacitance data, and the motor phase inductance data of the simulated permanent magnet synchronous motor;

[0106] The resonance angular frequency can be determined by the following formula:

[0107]

[0108] In formula (16), ω res represents the resonance angular frequency, L s represents the inductance of the simulated motor. If on the d-axis, L s = L d ; if on the q-axis, L s = L q .

[0109] Construct a notch filter according to the resonance angular frequency. The notch filter formula is as follows:

[0110]

[0111] In formula (17), G(s) represents the transfer function of the notch filter, and ε 1 and ε 2 represent the notch coefficients.

[0112] Discretize it using bilinear transformation, that is where T represents the discrete period and z represents the z-transform operator.

[0113] To further illustrate the control process of the permanent magnet synchronous motor current response control system for the motor current response, in the visualization simulation tool Simulink software, according to the dynamic equation of the LC filter in formula (1) and the current dynamic equation of the motor in formula (2), a permanent magnet synchronous motor current response control simulation system is built. This simulation system includes a current controller, a space vector pulse width modulation module (SVPWM), a simulation inverter, a simulation sine wave filter, and a simulation permanent magnet synchronous motor. Running this simulation system, the simulation operation results of the simulation system are obtained. Among them, the simulation inverter uses a three-phase inverter, the simulation sine wave filter uses a three-phase LC filter, PMSM is the motor, and the active disturbance rejection controller includes a d-axis active disturbance rejection controller and a q-axis active disturbance rejection controller. Refer to Figure 4 As shown in

[0114] The DC power supply is connected to the input of the three-phase inverter. The output terminal of the three-phase inverter is connected to the three-phase LC filter, and the output terminal of the three-phase LC filter is connected to the motor. The current controller measures the output current of the three-phase LC filter and detects the motor position signal θ and speed signal. Among them, the output current of the three-phase LC filter is the current signal i a and i b of the motor in the abc coordinate system. Convert i a and i b in the abc coordinate system into the current in the dq coordinate system, that is, i fd and i fq . Input i fd , i fq , and the values of the parameters of the three-phase LC filter and the motor in the simulation system into the state observer (not marked in Figure 4 ). Calculate the d-axis current estimation data, q-axis current estimation data, system d-axis total disturbance data, and system q-axis total disturbance data. And input the d-axis current reference value , d-axis current estimation data, and system d-axis total disturbance data into the d-axis active disturbance rejection controller. Input the q-axis current reference value , q-axis current estimation data, and system q-axis total disturbance data into the q-axis active disturbance rejection controller. After calculation, output the d-axis voltage U d and q-axis voltage U q in the dq coordinates respectively. According to the motor position signal θ, convert U d and U q into U′ α and U β ′ in the αβ coordinate system. U′ α and U β ′ respectively pass through a notch filter to eliminate resonance and output the switching action signal (that is, U α and U β)It is passed to the SVPWM and then to the transformer to control the motor current. The simulation operation results include Figure 5 The q-axis current step tracking waveform of the motor shown;

[0115] In addition, a simulation system based on a traditional PI current controller is run in the Simulink software to obtain the waveform diagram of the q-axis current tracking the step signal. Refer to Figure 6 As shown, it can be seen that there is a resonance phenomenon during the tracking process. By comparing Figure 5 With the current tracking step waveform diagram shown, it can be found that Figure 6 In the simulation system in [], the current response speed is slow during the tracking process. Therefore, using the permanent magnet synchronous motor current response control system provided by the embodiments of the present invention can enable the dq-axis currents of the motor to quickly track the command values and eliminate resonance.

[0116] Embodiment 2

[0117] Based on the above permanent magnet synchronous motor current response control simulation system, the embodiments of the present invention further provide a permanent magnet synchronous motor current response control method, and its flow is as Figure 7 Shown, including the following steps:

[0118] Step S61: Obtain the parameters of the motor (PMSM) and the LC filter;

[0119] Step S62: According to the obtained PMSM parameters and LC filter parameters, establish the dynamic equation of the LC filter and the current dynamic equation of the motor in the rotating coordinate system;

[0120] Step S63: Establish an extended state observer to observe the total disturbance of the motor current equation with the LC filter, and establish a current auto-disturbance rejection controller accordingly;

[0121] Step S64: Calculate the resonance angular frequency of the motor with the LC filter, establish a notch filter accordingly, and add the notch filter to the auto-disturbance rejection controller;

[0122] Step S65: Simulate the system model to obtain the simulation results.

[0123] Based on the same inventive concept, the embodiments of the present invention further provide a permanent magnet synchronous motor current response control method, and the flowchart of this method refers to Figure 8 Shown, including the following steps:

[0124] Step S71: Obtain the actual data of multiple parameters of the permanent magnet synchronous motor in the system. The parameters of the permanent magnet synchronous motor include the d-axis current, the q-axis current, and the magnetic flux. The d-axis is in the same direction as the rotor magnetic field direction of the permanent magnet synchronous motor, and the q-axis is perpendicular to the d-axis;

[0125] Step S72: Determine the estimated d-axis current data of the permanent magnet synchronous motor and the estimated q-axis current data of the permanent magnet synchronous motor according to the actual d-axis current data, the actual q-axis current data, and the flux linkage data of the permanent magnet synchronous motor;

[0126] Step S73: Determine the d-axis voltage data of the inverter and the q-axis voltage data of the inverter according to the estimated d-axis current data of the permanent magnet synchronous motor and the estimated q-axis current data of the permanent magnet synchronous motor; Obtain the d-axis voltage data of the inverter with the resonance wave filtered and the q-axis voltage data of the inverter according to the d-axis voltage data of the inverter, the q-axis voltage data of the inverter, and the constructed notch filter.

[0127] Unless otherwise specifically stated, terms such as processing, computing, calculating, determining, displaying, etc. can refer to the actions and / or processes of one or more processing or computing systems, or similar devices. The actions and / or processes will represent the data manipulation and conversion of physical (such as electronic) quantities within the registers or memories of the processing system into other data similarly represented as physical quantities within the memories, registers, or other such information storage, transmission, or display devices of the processing system. Information and signals can be represented using any of a variety of different technologies and methods. For example, the data, instructions, commands, information, signals, bits, symbols, and chips mentioned throughout the above description can be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

[0128] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of the present disclosure. The appended method claims present the elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy.

[0129] In the above detailed description, various features are combined in a single embodiment to simplify the present disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are clearly stated in each claim. On the contrary, as reflected in the appended claims, the present invention lies in a state with fewer features than all the features of the disclosed single embodiment. Therefore, the appended claims are hereby clearly incorporated into the detailed description, where each claim stands alone as a separate preferred embodiment of the present invention.

[0130] Those skilled in the art should also understand that all the illustrative logical blocks, modules, circuits, and algorithmic steps described in connection with the embodiments herein can be implemented as electronic hardware, computer software, or a combination thereof. To clearly illustrate the interchangeability between hardware and software, the various illustrative components, blocks, modules, circuits, and steps have been generally described in terms of their functions above. Whether such a function is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. Skilled technicians can implement the described functions in a flexible manner for each specific application, but such implementation decisions should not be construed as departing from the scope of protection of this disclosure.

[0131] The steps of the methods or algorithms described in connection with the embodiments herein can be directly embodied as hardware, software modules executed by a processor, or a combination thereof. The software modules can be located in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium well-known in the art. An exemplary storage medium is connected to the processor so that the processor can read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. The ASIC can be located in a user terminal. Of course, the processor and the storage medium can also exist as discrete components in the user terminal.

[0132] For software implementation, the techniques described in this application can be implemented using modules (e.g., procedures, functions, etc.) that perform the functions described in this application. These software codes can be stored in a memory unit and executed by a processor. The memory unit can be implemented inside the processor or outside the processor. In the latter case, it is communicatively coupled to the processor via various means, which are well-known in the art.

[0133] The above description includes examples of one or more embodiments. Of course, it is impossible to describe all possible combinations of components or methods for the purpose of describing the above embodiments, but those of ordinary skill in the art should recognize that the various embodiments can be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications, and variations that fall within the scope of protection of the appended claims. In addition, with respect to the term "comprising" used in the specification or claims, this word is covered in a manner similar to the term "including," as is explained when "including," is used as a transitional word in the claims. In addition, any term "or" used in the specification and claims of the patent application is intended to mean "non-exclusive or."

Claims

1. A permanent magnet synchronous motor current response control system, the system comprising: A simulated inverter, a simulated sine wave filter and a simulated permanent magnet synchronous motor, wherein the simulated inverter, the simulated sine wave filter and the simulated permanent magnet synchronous motor are connected in sequence; characterized in that the system further comprises: a current controller; The current controller is used to obtain actual data of multiple parameters of the simulated permanent magnet synchronous motor in the system, the parameters of the simulated permanent magnet synchronous motor include d-axis current, q-axis current and flux, the d-axis is in the same direction as the magnetic field of the rotor of the permanent magnet synchronous motor, and the q-axis is perpendicular to the d-axis; according to the actual data of the d-axis current, the actual data of the q-axis current and the flux data of the simulated permanent magnet synchronous motor, the d-axis current estimation data of the simulated permanent magnet synchronous motor and the q-axis current estimation data of the simulated permanent magnet synchronous motor are determined; according to the d-axis current estimation data of the simulated permanent magnet synchronous motor and the q-axis current estimation data of the simulated permanent magnet synchronous motor, the d-axis voltage data of the simulated inverter and the q-axis voltage data of the simulated inverter are determined; according to the d-axis voltage data of the simulated inverter, the q-axis voltage data of the simulated inverter and the constructed notch filter, the d-axis voltage data of the simulated inverter and the q-axis voltage data of the inverter with the resonant wave filtered out are obtained.

2. The system according to claim 1, characterized in that The current controller includes an extended state observer and a motor current auto-disturbance rejection controller; The extended state observer is used to obtain actual data of multiple parameters of the permanent magnet synchronous motor in the system, and determine the d-axis current estimation data of the permanent magnet synchronous motor and the q-axis current estimation data of the permanent magnet synchronous motor according to the actual d-axis current data, the actual q-axis current data and the flux linkage data of the permanent magnet synchronous motor; The motor current auto-disturbance rejection controller is used to determine the d-axis voltage data and the q-axis voltage data of the simulated inverter according to the d-axis current estimation data of the permanent magnet synchronous motor and the q-axis current estimation data of the permanent magnet synchronous motor.

3. The system of claim 2, wherein the extended state observer is pre-constructed in the following manner: The extended state observer is constructed according to the simulated permanent magnet synchronous motor d-axis current, q-axis current, flux linkage and a plurality of pre-constructed system parameters.

4. The system according to claim 3, characterized in that The parameters of the simulated permanent magnet synchronous motor also include electrical angular velocity, d-axis inductance and q-axis inductance, and the parameters of the simulated sine wave filter include inductance, inductor resistance and capacitance; The plurality of system parameters are constructed in the following manner; According to the electrical angular velocity, d-axis inductance and q-axis inductance of the simulated permanent magnet synchronous motor, and the inductance, inductor resistance and capacitance of the simulated sine wave filter, expressions of the system parameters are respectively constructed; Correspondingly, the electric angular velocity data, d-axis inductance data and q-axis inductance data of the simulated permanent magnet synchronous motor, as well as the inductance data, inductor resistance data and capacitance data of the simulated sine wave filter are substituted into the expressions of the system parameters to respectively determine the data of each system parameter.

5. The system according to claim 2, characterized in that The motor current active disturbance rejection controller is pre-built in the following way: In the above formula, u id represents the simulated inverter output d-axis voltage, k pd is the control gain of the simulated permanent magnet synchronous motor d-axis active disturbance rejection controller, u iq represents the simulated inverter output q-axis voltage, k pq is the control gain of the q-axis active disturbance rejection controller of the simulated permanent magnet synchronous motor, f d is the total disturbance of the system d-axis, f q is the total disturbance of the system in the q axis.

6. The system according to claim 5, characterized in that Determining the d-axis voltage data of the simulated inverter and the q-axis voltage data of the inverter according to the d-axis current estimation data of the simulated permanent magnet synchronous motor and the q-axis current estimation data of the simulated permanent magnet synchronous motor comprises: Acquire reference data of the d-axis current of the simulated permanent magnet synchronous motor and reference data of the q-axis current of the simulated permanent magnet synchronous motor; Determining d-axis total disturbance data of the system and q-axis total disturbance data of the system; Bringing the estimated d-axis current data of the simulated permanent magnet synchronous motor, the reference data of the d-axis current of the simulated permanent magnet synchronous motor and the d-axis total disturbance data of the system into the motor current auto-disturbance rejection controller for solving, and obtaining the d-axis direction voltage data of the inverter in the system; The q-axis current estimation data of the simulated permanent magnet synchronous motor, the reference data of the q-axis current of the simulated permanent magnet synchronous motor and the q-axis total disturbance data of the system are brought into the motor current self-disturbance rejection controller for solution to obtain the q-axis direction voltage data of the inverter in the system.

7. The system according to claim 6, characterized in that Determining the d-axis total disturbance data of the system and the q-axis total disturbance data of the system comprises: The extended state observer is also used to determine the total d-axis disturbance data of the system based on the system's d-axis disturbance estimation data and the actual data of the permanent magnet synchronous motor's d-axis current; and to determine the total q-axis disturbance data of the system based on the system's q-axis disturbance estimation data, the actual data of the simulated permanent magnet synchronous motor's q-axis current and the flux data.

8. The system according to claim 7, characterized in that The motor current anti-disturbance controller also includes a notch filter; The notch filter is used to multiply the transfer function of the notch filter with the d-axis voltage data of the inverter to obtain the d-axis voltage data of the simulated inverter with the resonant wave filtered out; and multiply the transfer function of the notch filter with the q-axis voltage data of the simulated inverter to obtain the q-axis voltage data of the inverter with the resonant wave filtered out.

9. The system according to claim 8, characterized in that The notch filter is constructed in the following manner: Determining the resonant angular frequency of the system according to the inductance data and the capacitance data of the simulated sine wave filter and the motor phase inductance data of the simulated permanent magnet synchronous motor; A notch filter is constructed according to the resonant angular frequency.

10. A method for controlling a current response of a permanent magnet synchronous motor, the method being implemented by the permanent magnet synchronous motor current response control system according to any one of claims 1 to 9, characterized in that: include: Acquire actual data of multiple parameters of the simulated permanent magnet synchronous motor in the system, wherein the parameters of the simulated permanent magnet synchronous motor include d-axis current, q-axis current and flux linkage, wherein the d-axis is in the same direction as the rotor magnetic field of the simulated permanent magnet synchronous motor, and the q-axis is perpendicular to the d-axis; Determine estimated d-axis current data of the simulated permanent magnet synchronous motor and estimated q-axis current data of the simulated permanent magnet synchronous motor according to actual d-axis current data, actual q-axis current data and flux linkage data of the simulated permanent magnet synchronous motor; Determining d-axis voltage data of the simulated inverter and q-axis voltage data of the inverter according to the d-axis current estimation data of the simulated permanent magnet synchronous motor and the q-axis current estimation data of the simulated permanent magnet synchronous motor; According to the d-axis voltage data of the simulated inverter, the q-axis voltage data of the simulated inverter and the constructed notch filter, the d-axis voltage data of the simulated inverter and the q-axis voltage data of the simulated inverter with the resonant wave filtered out are obtained.

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