Permanent magnet synchronous motor control method, device and system and storage medium

Abstract

The invention discloses a permanent magnet synchronous motor control method, device and system and a storage medium. The permanent magnet synchronous motor control method comprises the following steps: obtaining a first line voltage value and a second line voltage value generated by rotation of a permanent magnet synchronous motor, and obtaining a rotor position angle actual value by the permanent magnet synchronous motor through a sinusoidal signal and a cosine signal output by a rotary transformer; determining a two-phase sine curve equation and an inverse triangular wave curve equation according to the first line voltage value, the second line voltage value and the rotor position angle actual value, and determining a rotor position angle deviation value according to the two-phase sine curve equation and the inverse triangular wave curve equation; and correcting the rotor position angle of the permanent magnet synchronous motor according to the rotor position angle deviation value and the rotor position angle actual value to obtain a corresponding rotor position angle target value. Identification of the initial position of the rotor of the permanent magnet synchronous motor is simplified, and identification precision of the initial position of the rotor is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of permanent magnet synchronous motors, and particularly to a control method, device, system and storage medium for a permanent magnet synchronous motor. Background Art

[0002] Permanent Magnet Synchronous Motors (PMSMs) have been widely used in industries such as industry, aerospace, etc. due to their advantages of high efficiency, high power density, good control performance, good starting characteristics, etc. Representative industries mainly include wind power and new energy vehicles, and their development has received great attention from the country and industry workers.

[0003] The true position of the rotor before the permanent magnet synchronous motor starts is called the initial rotor position. Due to the existence of the zero position deviation of the position sensor, there is a deviation between the rotor position obtained by the PMSM drive system from the position sensor and the true rotor position. This deviation is called the initial rotor position deviation, and the initial rotor position deviation already exists before the vast majority of newly off-line permanent magnet synchronous motors are put into operation. The initial rotor position deviation will cause an uncontrollable instantaneous current when the permanent magnet synchronous motor starts. In severe cases, it will directly cause the system to shut down, and will cause irreversible damage to both the permanent magnet synchronous motor body and the power devices, and may even cause the motor to reverse, resulting in unpredictable consequences. Even if the initial rotor position deviation is small and the motor can start, it will also affect the control performance of the motor. Therefore, the accurate detection of the initial rotor position is a necessary guarantee for the reliable start of the PMSM. Summary of the Invention

[0004] The present invention provides a control method, device, system and storage medium for a permanent magnet synchronous motor to solve the problem that the current initial rotor position deviation seriously affects the start and control performance of the permanent magnet synchronous motor.

[0005] According to one aspect of the present invention, there is provided a control method for a permanent magnet synchronous motor, the control method for the permanent magnet synchronous motor comprising:

[0006] Obtaining a first line voltage value and a second line voltage value generated by the rotation of the permanent magnet synchronous motor, and an actual value of the rotor position angle from the sine signal and cosine signal output by the permanent magnet synchronous motor through a resolver;

[0007] Determining a two-phase sine curve equation and an inverse triangular wave curve equation according to the first line voltage value, the second line voltage value and the actual value of the rotor position angle, and determining a rotor position angle deviation value according to the two-phase sine curve equation and the inverse triangular wave curve equation;

[0008] Correct the rotor position angle of the permanent magnet synchronous motor according to the rotor position angle deviation value and the actual rotor position angle to obtain the corresponding target rotor position angle.

[0009] Optionally, before determining the two-phase sine curve equation and the inverse triangular wave curve equation according to the first line voltage value, the second line voltage value and the actual rotor position angle, it further includes:

[0010] Obtain the driving angular velocity output by the driving device connected to the permanent magnet synchronous motor, and obtain the time length corresponding to the first line voltage value, the second line voltage value and the actual rotor position angle;

[0011] Determining the two-phase sine curve equation and the inverse triangular wave curve equation according to the first line voltage value, the second line voltage value and the actual rotor position angle includes:

[0012] Determine the two-phase sine curve equation according to the first line voltage value, the second line voltage value, the driving angular velocity and the time length;

[0013] Determine the inverse triangular wave curve equation according to the actual rotor position angle, the driving angular velocity and the time length.

[0014] Optionally, determining the two-phase sine curve equation according to the first line voltage value, the second line voltage value, the driving angular velocity and the time length is specifically:

[0015]

[0016] Where y is the output voltage value corresponding to the first line voltage value and the second line voltage value; ω is the driving angular velocity; t is the time length; A, b are the coefficients of the sine curve equation;

[0017] Determining the inverse triangular wave curve equation according to the actual rotor position angle, the driving angular velocity and the time length is specifically:

[0018]

[0019] Where m is the output position angle corresponding to the actual rotor position angle; h is the equation slope value; n is the coefficient of the inverse triangular wave curve equation.

[0020] Optionally, determining the rotor position angle deviation value according to the two-phase sine curve equation and the inverse triangular wave curve equation includes:

[0021] The rotor position angle deviation value is determined based on the first intersection coordinates corresponding to the rotor zero position angle obtained by combining the two-phase sinusoidal curve equations and the second intersection coordinates corresponding to the rotor zero position angle determined by the inverse triangular wave curve equation.

[0022] Optionally, correcting the rotor position angle of the permanent magnet synchronous motor according to the rotor position angle deviation value and the actual rotor position angle value to obtain a corresponding rotor position angle target value includes:

[0023] If the percentage of the rotor position angle deviation value is less than or equal to the set error value percentage, the rotor position angle target value corresponding to the rotor position angle of the permanent magnet synchronous motor is determined as the rotor position angle actual value;

[0024] If the percentage of the rotor position angle deviation value is greater than the set error value percentage, the rotor position angle of the permanent magnet synchronous motor is corrected according to the actual value of the rotor position angle to obtain a corresponding rotor position angle target value.

[0025] Optionally, before correcting the rotor position angle of the permanent magnet synchronous motor according to the actual value of the rotor position angle to obtain a corresponding rotor position angle target value, the method further includes:

[0026] Determining a rotor position angle compensation value according to the rotor position angle deviation value;

[0027] Correcting the rotor position angle of the permanent magnet synchronous motor according to the actual value of the rotor position angle to obtain a corresponding rotor position angle target value includes:

[0028] The rotor position angle of the permanent magnet synchronous motor is corrected according to the actual rotor position angle value and the rotor position angle compensation value to obtain a corresponding rotor position angle target value.

[0029] Optionally, the permanent magnet synchronous motor control method further includes:

[0030] If the rotor position angle deviation value is a positive value, the actual value of the rotor position angle is corrected to control the actual value of the rotor position angle to be within a range of 0 to 2π.

[0031] According to another aspect of the present invention, a permanent magnet synchronous motor control device is provided, the permanent magnet synchronous motor control device comprising:

[0032] A data acquisition module, used to acquire a first line voltage value and a second line voltage value generated by the rotation of the permanent magnet synchronous motor, and an actual value of a rotor position angle obtained by outputting a sine signal and a cosine signal of the permanent magnet synchronous motor through a rotary transformer;

[0033] A rotor position angle deviation value determination module, configured to execute determining a two-phase sine curve equation and an inverse triangular wave curve equation according to the first line voltage value, the second line voltage value, and the actual rotor position angle value, and determining a rotor position angle deviation value according to the two-phase sine curve equation and the inverse triangular wave curve equation;

[0034] A permanent magnet synchronous motor control module, configured to execute correcting the rotor position angle of the permanent magnet synchronous motor according to the rotor position angle deviation value and the actual rotor position angle value to obtain a corresponding target rotor position angle value.

[0035] According to another aspect of the present invention, there is provided a permanent magnet synchronous motor control system, the permanent magnet synchronous motor control system includes a driving device, a permanent magnet synchronous motor, a resolver, a decoder, a first voltage sensor, and a second voltage sensor, the driving device drives the permanent magnet synchronous motor to rotate, so as to detect a first line voltage value and a second line voltage value through the first voltage sensor and the second voltage sensor, and the sine signal and cosine signal output by the resolver are processed by the decoder to obtain the actual rotor position angle value;

[0036] The permanent magnet synchronous motor control system further includes:

[0037] At least one processor; and,

[0038] A memory communicatively connected to the at least one processor; wherein,

[0039] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the permanent magnet synchronous motor control method according to any embodiment of the present invention.

[0040] According to another aspect of the present invention, there is provided a computer-readable storage medium, the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the permanent magnet synchronous motor control method according to any embodiment of the present invention when executed by a processor.

[0041] In the technical solution of the embodiment of the present invention, the actual value of the rotor position angle is obtained by acquiring the first line voltage value and the second line voltage value generated by the rotation of the permanent magnet synchronous motor, as well as the sine signal and cosine signal output by the permanent magnet synchronous motor through the resolver; the two-phase sine curve equation and the inverse triangular wave curve equation are determined according to the first line voltage value, the second line voltage value and the actual value of the rotor position angle, and the rotor position angle deviation value is determined according to the two-phase sine curve equation and the inverse triangular wave curve equation; the rotor position angle of the permanent magnet synchronous motor is corrected according to the rotor position angle deviation value and the actual value of the rotor position angle to obtain the corresponding target value of the rotor position angle. The present invention solves the problem that the initial position deviation of the rotor seriously affects the starting and control performance of the permanent magnet synchronous motor, realizes the simplification of the identification of the initial position of the rotor of the permanent magnet synchronous motor, and improves the identification accuracy of the initial position of the rotor.

[0042] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0044] Figure 1 is a flowchart of a permanent magnet synchronous motor control method according to Embodiment 1 of the present invention;

[0045] Figure 2 is a schematic structural diagram of a permanent magnet synchronous motor control system according to an embodiment of the present invention;

[0046] Figure 3 is a flowchart of a permanent magnet synchronous motor control method according to Embodiment 2 of the present invention;

[0047] Figure 4 is a waveform diagram of the actual rotor position angle lag situation provided by the embodiment of the present invention;

[0048] Figure 5 is a waveform diagram of the actual rotor position angle lead situation provided by the embodiment of the present invention;

[0049] Figure 6 is a waveform diagram of the rotor position angle after being corrected by the compensation angle provided by the embodiment of the present invention;

[0050] Figure 7It is a schematic structural diagram of a permanent magnet synchronous motor control device provided in Embodiment 3 of the present invention;

[0051] Figure 8 It is a schematic structural diagram of a permanent magnet synchronous motor control system for implementing the permanent magnet synchronous motor control method of the embodiment of the present invention. Specific embodiments

[0052] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0053] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0054] Embodiment 1

[0055] Figure 1 This is a flowchart of a permanent magnet synchronous motor control method provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation of identifying and calibrating the initial position of the rotor of a permanent magnet synchronous motor. The permanent magnet synchronous motor control method can be executed by a permanent magnet synchronous motor control device. The permanent magnet synchronous motor control device can be implemented in the form of hardware and / or software, and the permanent magnet synchronous motor control device can be configured in a permanent magnet synchronous motor control system. As Figure 1 shown, the permanent magnet synchronous motor control method includes:

[0056] S110. Obtain the first line voltage value and the second line voltage value generated by the rotation of the permanent magnet synchronous motor, and the actual value of the rotor position angle obtained from the sine signal and cosine signal output by the permanent magnet synchronous motor through a resolver.

[0057] In this embodiment, the identification of the initial position of the permanent magnet synchronous motor rotor mainly considers the two-phase line voltage of the permanent magnet synchronous motor and the rotor position angle obtained through the resolver. Specifically: the two-phase line voltage is the first line voltage value and the second line voltage value generated by the rotation of the permanent magnet synchronous motor, and the rotor position angle is obtained from the sine signal and cosine signal output by the resolver.

[0058] It is known that the first line voltage value and the second line voltage value correspond to the voltage between phase A and phase B and the voltage between phase A and phase C of the permanent magnet synchronous motor. The first line voltage value is the voltage U between phase A and phase B of the permanent magnet synchronous motor AB , and the second line voltage value is the voltage U between phase A and phase C of the permanent magnet synchronous motor AC , or, the first line voltage value is the voltage U between phase A and phase C of the permanent magnet synchronous motor AC , and the second line voltage value is the voltage U between phase A and phase B of the permanent magnet synchronous motor AB , and this embodiment does not impose any restrictions on this.

[0059] On the above basis, as shown in Figure 2 , the permanent magnet synchronous motor control system includes a driving device, a permanent magnet synchronous motor, a resolver, a decoder, a first voltage sensor, and a second voltage sensor. The driving device drives the permanent magnet synchronous motor to rotate, causing the rotor position to change and generating a back electromotive force. The first voltage sensor and the second voltage sensor are installed at the corresponding positions of the UVW three phases of the permanent magnet synchronous motor, and the first line voltage value and the second line voltage value are detected through the first voltage sensor and the second voltage sensor for subsequent identification and calibration of the rotor position angle.

[0060] The first voltage sensor and the second voltage sensor can be implemented using existing voltage sensors. This embodiment does not impose special restrictions on information such as the selection of the first voltage sensor and the second voltage sensor. Exemplarily, the first voltage sensor and the second voltage sensor are respectively used to detect the voltage between phase A and phase B and the voltage between phase A and phase C of the permanent magnet synchronous motor.

[0061] Further, after the resolver receives the excitation signal, the output signal of the resolver will form a sine signal and a cosine signal as the rotor position changes. Furthermore, the sine signal and cosine signal output by the resolver are processed by the decoder to obtain the actual value of the rotor position angle.

[0062] S120. Determine the two-phase sine curve equation and the inverse triangular wave curve equation based on the first line voltage value, the second line voltage value, and the actual value of the rotor position angle, and determine the rotor position angle deviation value based on the two-phase sine curve equation and the inverse triangular wave curve equation.

[0063] In this embodiment, the first line voltage value, the second line voltage value and the corresponding time length are a set of data that conforms to the distribution law of the sine function. Combined with the traction angular velocity output by the traction equipment connected to the permanent magnet synchronous motor, the two-phase sinusoidal curve equations can be determined based on the general form of the sinusoidal curve, wherein the first line voltage value, the second line voltage value and the corresponding time length are the time lengths for detecting their voltage values ​​by the first voltage sensor and the second voltage sensor, and the specific time length is not particularly limited.

[0064] The two-phase sinusoidal curve equation is determined according to the first line voltage value, the second line voltage value, the drag angular velocity and the time length, specifically:

[0065]

[0066] Among them, y is the output voltage value corresponding to the first line voltage value and the second line voltage value; ω is the drag angular velocity; t is the time length; A, b is the coefficient of the sinusoidal equation;

[0067] Furthermore, the inverse triangular wave curve equation is determined according to the actual value of the rotor position angle, the drag angular velocity and the time length, which is specifically:

[0068]

[0069] Among them, m is the output position angle corresponding to the actual value of the rotor position angle; h is the slope value of the equation; and n is the coefficient of the inverse triangular wave curve equation.

[0070] On the above basis, the two-phase sinusoidal curve equations are combined to obtain the first intersection coordinates corresponding to the rotor zero position angle, and the second intersection coordinates corresponding to the rotor zero position angle determined by the inverse triangular wave curve equation. The horizontal coordinates of the two are subtracted to determine the rotor position angle deviation value.

[0071] S130, correcting the rotor position angle of the permanent magnet synchronous motor according to the rotor position angle deviation value and the actual rotor position angle value to obtain a corresponding rotor position angle target value.

[0072] The rotor position angle target value is the rotor position angle position obtained by calibrating the initial position of the permanent magnet synchronous motor after identification, which realizes the compensation of the rotor position angle.

[0073] Specifically, if the percentage of the rotor position angle deviation value is less than or equal to the set error value percentage, the rotor position angle target value corresponding to the rotor position angle of the permanent magnet synchronous motor is determined as the actual rotor position angle value; if the percentage of the rotor position angle deviation value is greater than the set error value percentage, the rotor position angle of the permanent magnet synchronous motor is corrected according to the actual rotor position angle value to obtain the corresponding rotor position angle target value.

[0074] The set error value percentage can be selected and set according to the identification requirements of the initial position of the permanent magnet synchronous motor rotor, and no specific limit is imposed on its specific value in this embodiment.

[0075] Furthermore, since the rotor position angle deviation value is defined as the starting point of the back electromotive force of phase A minus the zero position angle of the actual rotor position angle, and the deviation of the actual rotor position angle has two cases: leading and lagging, the rotor position angle deviation value is considered to be positive or negative.

[0076] If the rotor position angle deviation value is positive, it means that the actual rotor position angle lags. According to the compensation principle, the rotor position angle compensation value formula can be directly substituted for calculation to achieve rotor position angle compensation, that is, to correct the actual value of the rotor position angle to control the value range of the actual rotor position angle between 0 and 2π.

[0077] If the rotor position angle deviation value is negative, it means that the actual rotor position angle is leading. Since the actual deviation value is negative, according to the compensation principle, the influence brought by the leading angle needs to be subtracted, and the rotor position angle compensation value formula can be directly substituted for calculation to achieve rotor position angle compensation.

[0078] The specific rotor position angle compensation value formula is:

[0079]

[0080] Among them, θ offset is the rotor position angle compensation value; T is the actual value of the rotor position angle; T s is the period of one revolution of the permanent magnet synchronous motor.

[0081] After determining the rotor position angle compensation value according to the rotor position angle deviation value, the rotor position angle of the permanent magnet synchronous motor is corrected according to the actual value of the rotor position angle and the rotor position angle compensation value to obtain the corresponding rotor position angle target value.

[0082] The technical solution of the embodiment of the present invention obtains the first line voltage value and the second line voltage value generated by the rotation of the permanent magnet synchronous motor, as well as the sine signal and cosine signal output by the permanent magnet synchronous motor through the resolver to obtain the actual value of the rotor position angle; determines the two-phase sine curve equation and the inverse triangular wave curve equation according to the first line voltage value, the second line voltage value and the actual value of the rotor position angle, and determines the rotor position angle deviation value according to the two-phase sine curve equation and the inverse triangular wave curve equation; corrects the rotor position angle of the permanent magnet synchronous motor according to the rotor position angle deviation value and the actual value of the rotor position angle to obtain the corresponding rotor position angle target value. The present invention solves the problem that the current initial position deviation seriously affects the starting and control performance of the permanent magnet synchronous motor, realizes the simplification of the identification of the initial position of the permanent magnet synchronous motor rotor, and improves the identification accuracy of the initial position of the rotor.

[0083] Embodiment 2

[0084] Figure 3 This is a flowchart of a permanent magnet synchronous motor control method provided in the second embodiment of the present invention. Based on the above embodiment, this embodiment solves the compensation angle of the rotor zero position angle through the fitted curve, and determines whether to perform corresponding compensation according to the percentage of the magnitude of the rotor position angle deviation value, accurately realizes the compensation of the rotor zero position angle, completes the effective self-calibration of the rotor initial position, and provides an optional implementation manner. As Figure 3 shown, the permanent magnet synchronous motor control method includes:

[0085] S210. Obtain the first line voltage value and the second line voltage value generated by the rotation of the permanent magnet synchronous motor, and the actual value of the rotor position angle obtained from the sine signal and cosine signal output by the permanent magnet synchronous motor through the resolver.

[0086] S220. Obtain the driving angular velocity output by the driving device connected to the permanent magnet synchronous motor, and obtain the time length corresponding to the first line voltage value, the second line voltage value, and the actual value of the rotor position angle.

[0087] S230. Determine the two-phase sine curve equation according to the first line voltage value, the second line voltage value, the driving angular velocity, and the time length, and determine the inverse triangular wave curve equation according to the actual value of the rotor position angle, the driving angular velocity, and the time length.

[0088] Specifically, determining the two-phase sine curve equation according to the first line voltage value, the second line voltage value, the driving angular velocity, and the time length is specifically:

[0089]

[0090] where y is the output voltage value corresponding to the first line voltage value and the second line voltage value; ω is the driving angular velocity; t is the time length; A, b are the coefficients of the sine curve equation.

[0091] The coefficients A, b of the sine curve equation can be obtained through the following method:

[0092] Determine the fitting equation y = p 1 sin(ωt) + p 2 cos(ωt) + p 3 , where p 1 、p 2 、p 3 are the coefficients of the sine curve equation.

[0093] The corresponding relationship between the coefficients of the fitting equation and the coefficients of the sine curve equation is:

[0094]

[0095] Based on the above data, a system of equations can be established as follows:

[0096]

[0097] Furthermore, by simultaneously solving the system of equations, the coefficients A and b of the sine curve equation can be obtained.

[0098] Further, based on the actual value of the rotor position angle, the driving angular velocity, and the time length, the inverse triangular wave curve equation is determined as follows:

[0099]

[0100] where m is the output position angle corresponding to the actual value of the rotor position angle; b is the slope value of the equation; and n is the coefficient of the inverse triangular wave curve equation.

[0101] Based on the rotational angular velocity of the driving device, the slope value of the equation for the rotor position angle can be determined as:

[0102] h = tan -1 (ω)

[0103] Based on a set of obtained rotor angle information, calculate the average value within the corresponding time The value of the coefficient n of the fitting equation can be determined as:

[0104]

[0105] S240. Determine the rotor position angle deviation value based on the first intersection point coordinates corresponding to the rotor zero position angle obtained by simultaneously solving the two-phase sine curve equations and the second intersection point coordinates corresponding to the rotor zero position angle determined by the inverse triangular wave curve equation.

[0106] In this embodiment, the two-phase sine waveforms respectively represent the counter electromotive force of the CA phase and the counter electromotive force of the AB phase. The first intersection point is the starting point of the A-phase counter electromotive force. That is, the first intersection point coordinates corresponding to the rotor zero position angle are obtained by simultaneously solving the two-phase sine curve equations. There is a deviation between this first intersection point and the rotor zero position before calibration, which is the rotor position angle deviation value. Compensate the deviation value to the rotor position angle obtained by the resolver so that the rotor zero position coincides with the zero crossing point of the A-phase counter electromotive force (i.e., the second intersection point coordinates corresponding to the rotor zero position angle determined by the inverse triangular wave curve equation), thereby achieving the calibration of the rotor initial position.

[0107] Based on the above, by simultaneously solving the above two-phase sine curve equations, the first intersection point coordinates (t i , y i ) corresponding to the rotor zero position angle can be obtained. At the same time, by setting m = 0 in the inverse triangular wave curve equation, the second intersection point coordinates (t j, 0), subtract the abscissa of the first intersection point coordinate from the abscissa of the second intersection point coordinate, from which the rotor position angle deviation value T can be obtained. The rotor position angle deviation value T can be expressed by the formula:

[0108] T = t i -t j

[0109] S250. Determine whether the percentage of the rotor position angle deviation value is less than or equal to the set error value percentage. If so, execute step S260; if not, execute step S270.

[0110] S260. Determine the rotor position angle target value corresponding to the rotor position angle of the permanent magnet synchronous motor as the actual rotor position angle.

[0111] S270. Calibrate the rotor position angle of the permanent magnet synchronous motor according to the actual rotor position angle to obtain the corresponding rotor position angle target value.

[0112] On the above basis, if the rotor position angle deviation value is positive, it means that the actual rotor position angle lags. The waveform diagram of the actual rotor position angle lag situation is as Figure 4 shown. If the rotor position angle deviation value is negative, it means that the actual rotor position angle leads. The waveform diagram of the actual rotor position angle lead situation is as Figure 5 shown.

[0113] In this embodiment, based on Figure 4 and Figure 5 conditions, determine the rotor position angle compensation value according to the rotor position angle deviation value, and then calibrate the rotor position angle of the permanent magnet synchronous motor according to the actual rotor position angle and the rotor position angle compensation value to obtain the corresponding rotor position angle target value, so as to realize the calibration of the rotor initial position.

[0114] The specific formula for determining the rotor position angle target value is:

[0115] θ real = θ int + θ offset

[0116] where, θ real is the rotor position angle target value; θ int is the actual rotor position angle.

[0117] Furthermore,

[0118] When the rotor position angle deviation value is positive, it indicates that the actual rotor position angle lags. At this time, it is necessary to correct the actual value of the rotor position angle and compensate for the difference. After compensation, the value output by the encoder may exceed the range of (0, 2π). Therefore, it is also necessary to judge and correct the output value to ensure that the range of the encoder output value is (0, 2π), that is, to control the range of the actual value of the rotor position angle to be between 0 and 2π.

[0119]

[0120] The curve after compensation angle correction is as Figure 6 shown.

[0121] In the technical solution of the embodiment of the present invention, the two-phase line voltages of the permanent magnet synchronous motor are respectively detected by the voltage sensor (that is, the first line voltage value and the second line voltage value are obtained), and the actual value of the rotor position angle is obtained by decoding the sine signal and cosine signal output by the resolver, so as to complete the identification and calibration of the rotor position angle based on the actual value of the rotor position angle, fit the above data into a corresponding curve, solve the rotor position angle compensation value of the rotor zero position angle through the fitted curve, and determine whether to perform corresponding compensation according to the percentage of the size of the rotor position angle deviation value. The present invention can accurately compensate for the rotor zero position angle, effectively avoid the influence of detected voltage fluctuations by using the fitted curve, and realize an effective self-calibration process of the rotor initial position under the proposed permanent magnet synchronous motor control system, with high accuracy.

[0122] Embodiment III

[0123] Figure 7 is a schematic structural diagram of a permanent magnet synchronous motor control device provided by Embodiment III of the present invention. As Figure 7 shown, the permanent magnet synchronous motor control device includes:

[0124] A data acquisition module 310, configured to execute obtaining the first line voltage value and the second line voltage value generated by the rotation of the permanent magnet synchronous motor, and the actual value of the rotor position angle obtained from the sine signal and cosine signal output by the permanent magnet synchronous motor through a resolver;

[0125] A rotor position angle deviation value determination module 320, configured to execute determining the two-phase sine curve equation and the inverse triangular wave curve equation according to the first line voltage value, the second line voltage value and the actual value of the rotor position angle, and determining the rotor position angle deviation value according to the two-phase sine curve equation and the inverse triangular wave curve equation;

[0126] A permanent magnet synchronous motor control module 330, configured to execute correcting the rotor position angle of the permanent magnet synchronous motor according to the rotor position angle deviation value and the actual value of the rotor position angle to obtain a corresponding rotor position angle target value.

[0127] Optionally, the permanent magnet synchronous motor control device further includes:

[0128] A time length acquisition module, used to execute acquisition of the drag angular velocity output by the drag device connected to the permanent magnet synchronous motor, and to acquire the time length corresponding to the first line voltage value, the second line voltage value and the actual value of the rotor position angle;

[0129] The two-phase sinusoidal curve equation and the inverse triangular wave curve equation are determined according to the first line voltage value, the second line voltage value and the actual value of the rotor position angle, which are specifically used for:

[0130] Determine the two-phase sinusoidal curve equation according to the first line voltage value, the second line voltage value, the drag angular velocity and the time length;

[0131] The inverse triangular wave curve equation is determined according to the actual value of the rotor position angle, the drag angular velocity and the time length.

[0132] Optionally, the two-phase sinusoidal curve equation is determined according to the first line voltage value, the second line voltage value, the drag angular velocity and the time length, specifically:

[0133]

[0134] Among them, y is the output voltage value corresponding to the first line voltage value and the second line voltage value; ω is the drag angular velocity; t is the time length; A, b is the coefficient of the sinusoidal equation;

[0135] The inverse triangular wave curve equation is determined according to the actual value of the rotor position angle, the drag angular velocity and the time length, which is:

[0136]

[0137] Among them, m is the output position angle corresponding to the actual value of the rotor position angle; h is the slope value of the equation; and n is the coefficient of the inverse triangular wave curve equation.

[0138] Optionally, the rotor position angle deviation value is determined according to the two-phase sinusoidal curve equation and the inverse triangular wave curve equation, specifically for:

[0139] The rotor position angle deviation value is determined by obtaining the first intersection coordinates corresponding to the rotor zero position angle by combining the two-phase sinusoidal curve equations and the second intersection coordinates corresponding to the rotor zero position angle determined by the inverse triangular wave curve equation.

[0140] Optionally, the rotor position angle of the permanent magnet synchronous motor is corrected according to the rotor position angle deviation value and the actual rotor position angle value to obtain a corresponding rotor position angle target value, which is specifically used for:

[0141] If the percentage of the rotor position angle deviation value is less than or equal to the percentage of the set error value, the target value of the rotor position angle corresponding to the rotor position angle of the permanent magnet synchronous motor is determined as the actual value of the rotor position angle;

[0142] If the percentage of the rotor position angle deviation value is greater than the percentage of the set error value, the rotor position angle of the permanent magnet synchronous motor is corrected according to the actual value of the rotor position angle to obtain the corresponding target value of the rotor position angle.

[0143] Optionally, the permanent magnet synchronous motor control device further includes:

[0144] A rotor position angle compensation value determination module, configured to execute determining a rotor position angle compensation value according to the rotor position angle deviation value;

[0145] Correcting the rotor position angle of the permanent magnet synchronous motor according to the actual value of the rotor position angle to obtain the corresponding target value of the rotor position angle, specifically for:

[0146] Correcting the rotor position angle of the permanent magnet synchronous motor according to the actual value of the rotor position angle and the rotor position angle compensation value to obtain the corresponding target value of the rotor position angle.

[0147] Optionally, the permanent magnet synchronous motor control device further includes:

[0148] A rotor position angle actual value correction module, configured to execute correcting the actual value of the rotor position angle if the rotor position angle deviation value is positive, so as to control the value range of the actual value of the rotor position angle to be between 0 and 2π.

[0149] The permanent magnet synchronous motor control device provided by the embodiments of the present invention can execute the permanent magnet synchronous motor control method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the permanent magnet synchronous motor control method.

[0150] Embodiment 4

[0151] On the basis of the above embodiments, continue to refer to Figure 2 As shown, the permanent magnet synchronous motor control system includes a driving device, a permanent magnet synchronous motor, a resolver, a decoder, a first voltage sensor, and a second voltage sensor. The driving device drives the permanent magnet synchronous motor to rotate, so as to detect a first line voltage value and a second line voltage value through the first voltage sensor and the second voltage sensor. The sine signal and cosine signal output by the resolver are obtained as the actual value of the rotor position angle through the decoder.

[0152] Further, Figure 8 shows a schematic structural diagram of a permanent magnet synchronous motor control system 410 that can be used to implement the embodiments of the present invention. As Figure 8As shown, the permanent magnet synchronous motor control system 410 further includes at least one processor 411 and a memory communicatively connected to the at least one processor 411, such as a read-only memory (ROM 412), a random access memory (RAM 413), etc. The memory stores a computer program executable by the at least one processor. The processor 411 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM 412) or the computer program loaded from the storage unit 418 into the random access memory (RAM 413). In the RAM 413, various programs and data required for the operation of the permanent magnet synchronous motor control system 410 can also be stored. The processor 411, the ROM 412, and the RAM 413 are connected to each other via a bus 414. An I / O (input / output) interface 415 is also connected to the bus 414.

[0153] Multiple components in the permanent magnet synchronous motor control system 410 are connected to the I / O interface 415, including: an input unit 416, such as a keyboard, a mouse, etc.; an output unit 417, such as various types of displays, speakers, etc.; a storage unit 418, such as a disk, an optical disc, etc.; and a communication unit 419, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 419 allows the permanent magnet synchronous motor control system 410 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0154] The processor 411 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 411 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 411 executes the various methods and processes described above, such as the permanent magnet synchronous motor control method.

[0155] In some embodiments, the permanent magnet synchronous motor control method can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 418. In some embodiments, part or all of the computer program can be loaded and / or installed onto the permanent magnet synchronous motor control system 410 via the ROM 412 and / or the communication unit 419. When the computer program is loaded into the RAM 413 and executed by the processor 411, one or more steps of the permanent magnet synchronous motor control method described above can be executed. Alternatively, in other embodiments, the processor 411 can be configured to execute the permanent magnet synchronous motor control method by any other appropriate means (e.g., by means of firmware).

[0156] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0157] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0158] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0159] To provide interaction with a user, the systems and techniques described herein can be implemented on a permanent magnet synchronous motor control system having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the permanent magnet synchronous motor control system. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0160] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0161] A computing system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0162] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0163] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A permanent magnet synchronous motor control method, characterized in that: include: Obtain a first line voltage value and a second line voltage value generated by the rotation of the permanent magnet synchronous motor, and a sine signal and a cosine signal output by the permanent magnet synchronous motor through a rotary transformer to obtain an actual value of a rotor position angle; Determine a two-phase sinusoidal curve equation and an inverse triangular wave curve equation according to the first line voltage value, the second line voltage value and the actual value of the rotor position angle, and determine a rotor position angle deviation value according to the two-phase sinusoidal curve equation and the inverse triangular wave curve equation; The rotor position angle of the permanent magnet synchronous motor is corrected according to the rotor position angle deviation value and the rotor position angle actual value to obtain a corresponding rotor position angle target value.

2. The permanent magnet synchronous motor control method according to claim 1, characterized in that: Before determining the two-phase sinusoidal curve equation and the inverse triangular wave curve equation according to the first line voltage value, the second line voltage value and the actual value of the rotor position angle, the method further includes: Acquire a drag angular velocity output by a drag device connected to the permanent magnet synchronous motor, and acquire a time length corresponding to the first line voltage value, the second line voltage value, and the actual value of the rotor position angle; Determining a two-phase sinusoidal curve equation and an inverse triangular wave curve equation according to the first line voltage value, the second line voltage value and the actual value of the rotor position angle includes: Determine a two-phase sinusoidal curve equation according to the first line voltage value, the second line voltage value, the drag angular velocity and the time length; An inverse triangular wave curve equation is determined according to the actual value of the rotor position angle, the drag angular velocity and the time length.

3. The permanent magnet synchronous motor control method according to claim 2, characterized in that: The two-phase sinusoidal curve equation is determined according to the first line voltage value, the second line voltage value, the drag angular velocity and the time length, specifically: Wherein, y is the output voltage value corresponding to the first line voltage value and the second line voltage value; ω is the drag angular velocity; t is the time length; A, b is the coefficient of the sinusoidal equation; The inverse triangular wave curve equation is determined according to the actual value of the rotor position angle, the drag angular velocity and the time length, specifically: Among them, m is the output position angle corresponding to the actual value of the rotor position angle; h is the slope value of the equation; and n is the coefficient of the inverse triangular wave curve equation.

4. The permanent magnet synchronous motor control method according to claim 1, characterized in that: Determining the rotor position angle deviation value according to the two-phase sinusoidal curve equation and the inverse triangular wave curve equation includes: The rotor position angle deviation value is determined based on the first intersection coordinates corresponding to the rotor zero position angle obtained by combining the two-phase sinusoidal curve equations and the second intersection coordinates corresponding to the rotor zero position angle determined by the inverse triangular wave curve equation.

5. The permanent magnet synchronous motor control method according to claim 1, characterized in that: Correcting the rotor position angle of the permanent magnet synchronous motor according to the rotor position angle deviation value and the actual value of the rotor position angle to obtain a corresponding rotor position angle target value includes: If the percentage of the rotor position angle deviation value is less than or equal to the set error value percentage, the rotor position angle target value corresponding to the rotor position angle of the permanent magnet synchronous motor is determined as the rotor position angle actual value; If the percentage of the rotor position angle deviation value is greater than the set error value percentage, the rotor position angle of the permanent magnet synchronous motor is corrected according to the actual value of the rotor position angle to obtain a corresponding rotor position angle target value.

6. The permanent magnet synchronous motor control method according to claim 5, characterized in that: Before correcting the rotor position angle of the permanent magnet synchronous motor according to the actual value of the rotor position angle to obtain a corresponding rotor position angle target value, the method further includes: Determining a rotor position angle compensation value according to the rotor position angle deviation value; Correcting the rotor position angle of the permanent magnet synchronous motor according to the actual value of the rotor position angle to obtain a corresponding rotor position angle target value includes: The rotor position angle of the permanent magnet synchronous motor is corrected according to the actual rotor position angle value and the rotor position angle compensation value to obtain a corresponding rotor position angle target value.

7. The permanent magnet synchronous motor control method according to claim 5, characterized in that: The permanent magnet synchronous motor control method further includes: If the rotor position angle deviation value is a positive value, the actual value of the rotor position angle is corrected to control the actual value of the rotor position angle to be within a range of 0 to 2π.

8. A permanent magnet synchronous motor control device, characterized in that: include: A data acquisition module, used to acquire a first line voltage value and a second line voltage value generated by the rotation of the permanent magnet synchronous motor, and an actual value of a rotor position angle obtained by outputting a sine signal and a cosine signal of the permanent magnet synchronous motor through a rotary transformer; a rotor position angle deviation value determination module, configured to determine a two-phase sinusoidal curve equation and an inverse triangular wave curve equation according to the first line voltage value, the second line voltage value and the actual value of the rotor position angle, and determine a rotor position angle deviation value according to the two-phase sinusoidal curve equation and the inverse triangular wave curve equation; The permanent magnet synchronous motor control module is used to correct the rotor position angle of the permanent magnet synchronous motor according to the rotor position angle deviation value and the actual value of the rotor position angle to obtain a corresponding rotor position angle target value.

9. A permanent magnet synchronous motor control system, characterized in that: The permanent magnet synchronous motor control system includes a traction device, a permanent magnet synchronous motor, a rotary transformer, a decoder, a first voltage sensor and a second voltage sensor. The traction device drives the permanent magnet synchronous motor to rotate, so as to obtain a first line voltage value and a second line voltage value through the first voltage sensor and the second voltage sensor. The sine signal and the cosine signal output by the rotary transformer are passed through the decoder to obtain an actual value of the rotor position angle. The permanent magnet synchronous motor control system also includes: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the permanent magnet synchronous motor control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the permanent magnet synchronous motor control method according to any one of claims 1 to 7 when executed.

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