Electrical parameter online joint identification method, system and equipment and storage medium

Abstract

The invention discloses an electrical parameter online joint identification method, system and device and a storage medium. The method comprises the following steps: respectively constructing corresponding extended sliding mode observers according to stator resistance, inductance and permanent magnet flux linkage based on a voltage equation of a permanent magnet synchronous motor; determining a sliding mode surface, a sliding mode gain and a feedback gain corresponding to each extended sliding mode observer; performing discrete interconnection on the plurality of extended sliding mode observers according to the sliding mode surface, the sliding mode gain and the feedback gain to obtain an interconnected extended sliding mode observer; and on-line joint identification is carried out on the electrical parameters of the permanent magnet synchronous motor through the interconnection expansion sliding mode observer. According to the method, three extended sliding-mode observers with time-varying feedback gains are constructed for three electrical parameters, then the Internet is constructed, and estimation information of the three observers is interactively updated, so that the interconnected extended sliding-mode observers carry out online joint identification on the three electrical parameters of the permanent magnet synchronous motor system.

Description

Technical Field

[0001] The present invention relates to the technical field of motor drive, and particularly to an online combined identification method, system, device and storage medium for electrical parameters. Background Art

[0002] Permanent magnet synchronous motors have excellent characteristics such as good reliability, high power density, and high efficiency, and have been widely used in the industrial field. The classic permanent magnet synchronous motor control system is a double closed-loop control system, which consists of an inner current loop and an outer speed loop. As the inner loop, the control performance of the current loop directly determines the torque control performance of the motor. The traditional method for tuning the parameters of the current loop controller uses electrical parameters such as the resistance, inductance, and permanent magnet flux linkage of the permanent magnet synchronous motor. Therefore, the accuracy of electrical parameter identification determines the quality of the current loop control performance, and further determines the control performance of the motor.

[0003] Common online multi-electrical parameter identification methods mainly include the least squares method, extended Kalman filter, model reference adaptive method, etc. At present, the identification technology all adopts a step-by-step identification method, that is, first identify the inductance, and then perform the online identification of the resistance and permanent magnet flux linkage. Although this step-by-step identification method avoids the problem of system under-rank, when the inductance changes, the online combined identification of electrical parameters cannot be realized.

[0004] The above content is only used to assist in understanding the technical solution of the present invention, and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main object of the present invention is to provide an online combined identification method, system, device and storage medium for electrical parameters, aiming to solve the technical problem of under-rank in the online combined identification of electrical parameters.

[0006] To achieve the above object, the present invention provides an online combined identification method for electrical parameters, and the online combined identification method for electrical parameters includes: Based on the voltage equation of the permanent magnet synchronous motor, corresponding extended sliding mode observers are respectively constructed according to the stator resistance, inductance and permanent magnet flux linkage; Determine the sliding mode surface, sliding mode gain and feedback gain corresponding to each extended sliding mode observer; Discretely interconnect multiple extended sliding mode observers according to the sliding mode surface, the sliding mode gain and the feedback gain to obtain an interconnected extended sliding mode observer; Online identify the electrical parameters of the permanent magnet synchronous motor through the interconnected extended sliding mode observer.

[0007] Optionally, the step of respectively constructing corresponding extended sliding mode observers according to the stator resistance, inductance and permanent magnet flux linkage based on the voltage equation of the permanent magnet synchronous motor includes: Obtain the voltage, current, electrical angular velocity, and electrical angle of the permanent magnet synchronous motor; Construct the voltage equation of the permanent magnet synchronous motor according to the voltage, the current, the electrical angular velocity, and the electrical angle; Convert the voltage equation into a current differential equation, and respectively construct corresponding extended sliding mode observers based on the current differential equation according to the stator resistance, inductance, and permanent magnet flux linkage.

[0008] Optionally, the step of determining the sliding mode surface corresponding to each extended sliding mode observer includes: Determine the current estimation value corresponding to each extended sliding mode observer; Respectively determine the sliding mode surface corresponding to each extended sliding mode observer according to the current estimation value corresponding to each extended sliding mode observer and the current of the permanent magnet synchronous motor.

[0009] Optionally, the step of determining the sliding mode gain corresponding to each extended sliding mode observer includes: Respectively determine the observed current error value, inductance derivative error value, resistance error value, and permanent magnet flux linkage error value corresponding to each extended sliding mode observer; Based on the observed current error value, the inductance derivative error value, the resistance error value, and the permanent magnet flux linkage error value, respectively construct the state variable error equation of each extended sliding mode observer; Respectively determine the sliding mode gain corresponding to each extended sliding mode observer according to each state variable error equation and each observed current error value.

[0010] Optionally, the step of respectively constructing the state variable error equation of each extended sliding mode observer based on the current error value, the inductance derivative error value, the resistance error value, and the permanent magnet flux linkage error value includes: Respectively determine the corresponding sliding mode observer signal according to the sliding mode surface corresponding to each extended sliding mode observer; Based on the observed current error value, the inductance derivative error value, the resistance error value, the permanent magnet flux linkage error value, and the sliding mode observer signal, respectively construct the state variable error equation of each extended sliding mode observer.

[0011] Optionally, the step of respectively determining the sliding mode gain corresponding to each extended sliding mode observer according to each state variable error equation and each observed current error value includes: Determine multiple state parameters corresponding to each state variable error equation; Based on the multiple state parameters corresponding to each state variable error equation, respectively determine the time derivative corresponding to each extended sliding mode observer through the Lyapunov function; When the time derivative satisfies the sliding mode reachability condition, the sliding mode gains corresponding to the respective extended sliding mode observers are determined according to the respective state variable error equations and the respective observed current error values.

[0012] Optionally, the step of determining the feedback gains corresponding to the respective extended sliding mode observers includes: Determine the inductance derivative error equations corresponding to the respective extended sliding mode observers; Construct the identification error equations corresponding to the respective extended sliding mode observers according to the inductance derivative error equations and the state variable error equations corresponding to the respective extended sliding mode observers; Determine the feedback gains corresponding to the respective extended sliding mode observers based on the identification error equations corresponding to the respective extended sliding mode observers.

[0013] In addition, to achieve the above object, the present invention also proposes an electrical parameter online joint identification system, and the electrical parameter online joint identification system includes: A construction module, configured to respectively construct corresponding extended sliding mode observers based on the voltage equation of the permanent magnet synchronous motor according to the stator resistance, the inductance, and the permanent magnet flux linkage; A calculation module, configured to determine the sliding mode surfaces, the sliding mode gains, and the feedback gains corresponding to the respective extended sliding mode observers; An interconnection module, configured to discretely interconnect a plurality of extended sliding mode observers according to the sliding mode surface, the sliding mode gain, and the feedback gain to obtain an interconnected extended sliding mode observer; An identification module, configured to perform online joint identification of the electrical parameters of the permanent magnet synchronous motor through the interconnected extended sliding mode observer.

[0014] In addition, to achieve the above object, the present invention also proposes an electrical parameter online joint identification device, and the device includes: a memory, a processor, and an electrical parameter online joint identification program stored on the memory and executable on the processor, and the electrical parameter online joint identification program is configured to implement the steps of the electrical parameter online joint identification method as described above.

[0015] In addition, to achieve the above object, the present invention also proposes a storage medium, and an electrical parameter online joint identification program is stored on the storage medium, and when the electrical parameter online joint identification program is executed by a processor, the steps of the electrical parameter online joint identification method as described above are implemented.

[0016] First, based on the voltage equation of the permanent magnet synchronous motor, the corresponding extended sliding mode observers are constructed according to the stator resistance, inductance, and permanent magnet flux linkage respectively. Then, the sliding mode surfaces, sliding mode gains, and feedback gains corresponding to each extended sliding mode observer are determined. After that, multiple extended sliding mode observers are discretely interconnected according to the sliding mode surfaces, sliding mode gains, and feedback gains to obtain an interconnected extended sliding mode observer. Finally, the electrical parameters of the permanent magnet synchronous motor are online jointly identified through the interconnected extended sliding mode observer. The present invention constructs three extended sliding mode observers with time-varying feedback gains for three electrical parameters, and then constructs an interconnected network. The estimated information of the three observers is interactively updated, ensuring the accuracy of electrical parameter identification while enabling the interconnected extended sliding mode observer to perform online joint identification of the three electrical parameters of the permanent magnet synchronous motor system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 FIG. is a schematic structural diagram of an electrical parameter online joint identification device for the hardware operating environment involved in the embodiment solution of the present invention; Figure 2 FIG. is a schematic flowchart of the first embodiment of the electrical parameter online joint identification method of the present invention; Figure 3 FIG. is a schematic principle block diagram of an interconnected extended sliding mode observer in the first embodiment of the electrical parameter online joint identification method of the present invention; Figure 4 FIG. is a schematic diagram of the inductance identification result of the simulation experiment in the first embodiment of the electrical parameter online joint identification method of the present invention; Figure 5 FIG. is a schematic diagram of the resistance identification result of the simulation experiment in the first embodiment of the electrical parameter online joint identification method of the present invention; Figure 6 FIG. is a schematic diagram of the flux linkage identification result of the simulation experiment in the first embodiment of the electrical parameter online joint identification method of the present invention; Figure 7 FIG. is a schematic block diagram of the structure of the first embodiment of the electrical parameter online joint identification system of the present invention.

[0018] The realization, functional features, and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0020] Refer to Figure 1 , Figure 1 FIG. is a schematic structural diagram of an electrical parameter online joint identification device for the hardware operating environment involved in the embodiment solution of the present invention.

[0021] As shown in Figure 1As shown in the figure, the on-line combined identification device for electrical parameters may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard. Optionally, the user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed Random Access Memory (RAM) or a stable Non-Volatile Memory (NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage system independent of the aforementioned processor 1001.

[0022] Those skilled in the art can understand that Figure 1 the structure shown in the figure does not constitute a limitation on the on-line combined identification device for electrical parameters, and may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements.

[0023] As Figure 1 shown, the memory 1005, as a storage medium, may include an operating system, a network communication module, a user interface module, and an on-line combined identification program for electrical parameters.

[0024] In Figure 1 the on-line combined identification device for electrical parameters shown in the figure, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the on-line combined identification device for electrical parameters of the present invention may be provided in the on-line combined identification device for electrical parameters. The on-line combined identification device for electrical parameters calls the on-line combined identification program stored in the memory 1005 through the processor 1001 and executes the on-line combined identification method provided by the embodiment of the present invention.

[0025] The embodiment of the present invention provides an on-line combined identification method for electrical parameters. Referring to Figure 2 , Figure 2 is a schematic flowchart of the first embodiment of the on-line combined identification method for electrical parameters of the present invention.

[0026] In this embodiment, the on-line combined identification method for electrical parameters includes the following steps: Step S10: Based on the voltage equation of the permanent magnet synchronous motor, extended sliding mode observers are respectively constructed according to the stator resistance, inductance, and permanent magnet flux linkage.

[0027] It is easy to understand that the execution entity of this embodiment can be an on-line joint identification system for electrical parameters with functions such as data processing, network communication, and program operation, or other computer devices with similar functions. This embodiment does not impose any restrictions.

[0028] Furthermore, obtain the voltage, current, electrical angular velocity, and electrical angle of the permanent magnet synchronous motor; construct the voltage equation of the permanent magnet synchronous motor according to the voltage, current, electrical angular velocity, and electrical angle; convert the voltage equation into a current differential equation, and based on the current differential equation, extended sliding mode observers are respectively constructed according to the stator resistance, inductance, and permanent magnet flux linkage.

[0029] In a specific implementation, the voltage equation of the surface-mounted permanent magnet synchronous motor system is: (1) Where is the stator resistance, is the inductance, is the permanent magnet flux linkage, respectively represent the voltages on the respectively represent the currents on the represents the electrical angular velocity, represents the electrical angle. , , and are provided by the permanent magnet synchronous motor system.

[0030] Convert the voltage equation into a current differential equation as follows: (2) Where the equations on the axis all contain the stator resistance , inductance and permanent magnet flux linkage and respectively represent the derivatives of the currents on the axis. Taking the stator resistance, inductance, and permanent magnet flux linkage as observed quantities,

[0031] Based on the axis equation, extended sliding mode observers are respectively constructed with the stator resistance, inductance, and permanent magnet flux linkage as observed quantities and as the state quantity: (3) Among them, and and respectively represent and and estimated values, and and respectively represent the sliding mode gains of three extended sliding mode observers, and and respectively represent the sliding mode surfaces of three extended sliding mode observers, and and respectively represent the signals of three sliding mode observers, and and respectively represent the feedback gains of three sliding mode observers.

[0032] It should also be noted that O1 is the extended sliding mode observer corresponding to the inductor, O2 is the extended sliding mode observer corresponding to the stator resistance, and O3 is the extended sliding mode observer corresponding to the permanent magnet flux linkage.

[0033] Step S20: Determine the sliding mode surface, sliding mode gain and feedback gain corresponding to each extended sliding mode observer.

[0034] Furthermore, the method for determining the sliding mode surface corresponding to each extended sliding mode observer is to determine the current estimated value corresponding to each extended sliding mode observer; and determine the sliding mode surface corresponding to each extended sliding mode observer according to the current estimated value corresponding to each extended sliding mode observer and the current of the permanent magnet synchronous motor respectively.

[0035] In specific implementation, and and respectively represent the sliding mode surfaces of three extended sliding mode observers, which are designed as: (4) In the formula, is the current estimated value in the three observers.

[0036] Furthermore, the method for determining the sliding mode gain corresponding to each extended sliding mode observer is to determine the observed current error value, inductor derivative error value, resistance error value and permanent magnet flux linkage error value corresponding to each extended sliding mode observer respectively; construct the state quantity error equation of each extended sliding mode observer based on the observed current error value, inductor derivative error value, resistance error value and permanent magnet flux linkage error value; and determine the sliding mode gain corresponding to each extended sliding mode observer according to each state quantity error equation and each observed current error value respectively.

[0037] The processing method of constructing the state variable error equations of each extended sliding mode observer based on the current error value, the inductance derivative error value, the resistance error value, and the permanent magnet flux linkage error value respectively is to determine the corresponding sliding mode observer signals according to the sliding mode surfaces corresponding to each extended sliding mode observer; construct the state variable error equations of each extended sliding mode observer based on the observed current error value, the inductance derivative error value, the resistance error value, the permanent magnet flux linkage error value, and the sliding mode observer signal respectively.

[0038] Furthermore, the processing method of determining the sliding mode gain corresponding to each extended sliding mode observer according to each state variable error equation and each observed current error value is to determine multiple state parameters corresponding to each state variable error equation; determine the time derivative corresponding to each extended sliding mode observer respectively through the Lyapunov function based on the multiple state parameters corresponding to each state variable error equation; when the time derivative satisfies the sliding mode reachability condition, determine the sliding mode gain corresponding to each extended sliding mode observer according to each state variable error equation and each observed current error value respectively.

[0039] In the specific implementation, taking the extended sliding mode observer of inductance as an example to calculate its error equation: (5) where represents the current error value observed by the observer, represents the derivative of the current error value with respect to time, represents the error value of the reciprocal of the inductance, is expressed as: (6) where, and represent the error values of the resistance and the permanent magnet flux linkage respectively.

[0040] Assume that multiple state parameters corresponding to the state variable error equation (i.e., variables and ) are bounded, and define , and respectively, represents the derivative of , select the Lyapunov function as , so (7) Therefore, when , is satisfied, that is, the sliding mode reachability condition is satisfied, that is, the error and its derivative Can converge to zero within a finite time.

[0041] Taking the extended sliding mode observer of resistance as an example, calculate its error equation: (8) Where represents the current error value observed by the observer, represents the error value of the resistance.

[0042]

[0043] Assume that the variables and are bounded, and define , and , represents the derivative of , so the derivative of (9) So, when , is satisfied, that is, the sliding mode reachability condition is satisfied, that is, the error and its derivative can converge to zero within a finite time.

[0044] Taking the extended sliding mode observer of magnetic flux linkage as an example, calculate its error equation: (10) Where, represents the current error value observed by the observer, represents the error value of the magnetic flux linkage.

[0045]

[0046] Assume that the variables and are bounded, and define , and , represents the derivative of , so the derivative of (11) When , is satisfied, that is, the sliding mode reachability condition is satisfied, i.e., the error and its derivative can converge to zero within a finite time.

[0047] Furthermore, the method for determining the feedback gain corresponding to each extended sliding mode observer is to determine the inductance derivative error equation corresponding to each extended sliding mode observer; construct the identification error equation corresponding to each extended sliding mode observer according to the inductance derivative error equation and the state quantity error equation corresponding to each extended sliding mode observer; and determine the feedback gain corresponding to each extended sliding mode observer based on the identification error equation corresponding to each extended sliding mode observer.

[0048] In this embodiment, aiming at the problem of under-rank model, the feedback gain adopts a time-varying feedback gain. The design steps of the feedback gain for the three sliding mode observers are as follows: From equations (3) and (5), the state quantity error equation and the inductance derivative error equation can be obtained. Then, the identification error equation is constructed according to the state quantity error equation and the inductance derivative error equation. The identification error equation is: (12) where represents the actual derivative of the reciprocal of the inductance. When the sliding mode arrives, the equation holds. Also, the change frequency of the electrical parameters is much smaller than the inverter switching frequency in the permanent magnet synchronous motor system. Therefore, it can be considered that the electrical parameters to be identified remain almost unchanged within a very short time, which means . And to make the identification error of the electrical parameters gradually approach zero, then according to equation (12), it can be deduced that: (13) The analytical solution of equation (13) can be expressed as: (14) where is a constant. If , then the identification error can exponentially decay to zero with time . So the feedback gain can be designed as , being a constant.

[0049] From equations (3) and (8), the state quantity error equation and the inductance derivative error equation can be obtained. Then, the identification error equation is constructed according to the state quantity error equation and the inductance derivative error equation. The identification error equation is: (15) where Represents the actual derivative of the resistance. When the sliding mode arrives, there is an equation holds. Also, the change frequency of the electrical parameters is much smaller than the inverter switching frequency in the permanent magnet synchronous motor system. Therefore, it can be considered that the electrical parameters to be identified remain almost unchanged in a very short time, which means . And to make the identification error of the electrical parameters gradually approach zero, then according to Equation (15), it can be deduced that: (16) The analytical solution of Equation (16) can be expressed as: (17) where is a constant. If , then the identification error can exponentially decay to zero with time . So the feedback gain can be designed as , is a constant.

[0050] From Equation (3) and Equation (10), the state variable error equation and the inductance derivative error equation can be obtained. Then, according to the state variable error equation and the inductance derivative error equation, the identification error equation is constructed. The identification error equation is: (18) where represents the actual derivative of the flux linkage. When the sliding mode arrives, there is an equation holds. Also, the change frequency of the electrical parameters is much smaller than the inverter switching frequency in the permanent magnet synchronous motor system. Therefore, it can be considered that the electrical parameters to be identified remain almost unchanged in a very short time, which means . And to make the identification error of the electrical parameters gradually approach zero, then according to Equation (18), it can be deduced that: (19) The analytical solution of Equation (19) can be expressed as: (20) where is a constant. If , then the identification error can exponentially decay to zero with time . So the feedback gain can be designed as , is a constant.

[0051] In summary, the three feedback gains Can be designed respectively as: (21) To ensure that the identification error Can gradually approach zero, it can be achieved by selecting appropriate To achieve.

[0052] Step S30: Discretely interconnect multiple extended sliding mode observers according to the sliding mode surface, the sliding mode gain, and the feedback gain to obtain an interconnected extended sliding mode observer.

[0053] In this embodiment, referring to Figure 3 , Figure 3 Is the principle block diagram of the interconnected extended sliding mode observer of the first embodiment of the on-line joint identification method of electrical parameters of the present invention. The identification process of each of the three observers requires the estimated value information provided by the other two observers. Based on the designed sliding mode surface, sliding mode gain, and feedback gain, multiple extended sliding mode observers are interconnected in a discrete form to obtain an interconnected extended sliding mode observer. The discrete form of the interconnected sliding mode observer is expressed as:

[0054] Among them, n and n - 1 as superscripts respectively represent the data at the nth moment and the data value at the (n - 1)th moment, Represents the time interval between two moments, where .

[0055] Step S40: Online jointly identify the electrical parameters of the permanent magnet synchronous motor through the interconnected extended sliding mode observer.

[0056] In specific implementation, in order to verify the feasibility and effectiveness of the electrical parameter identification technology provided by the present invention, a corresponding simulation model was built for research. Referring to Figures 4 - 6 , Figure 4 Is the schematic diagram of the inductance identification result of the simulation experiment of the first embodiment of the on-line joint identification method of electrical parameters of the present invention; Figure 5 Is the schematic diagram of the resistance identification result of the simulation experiment of the first embodiment of the on-line joint identification method of electrical parameters of the present invention; Figure 6 Is the schematic diagram of the flux linkage identification result of the simulation experiment of the first embodiment of the on-line joint identification method of electrical parameters of the present invention; The simulation model adopts Vector control strategy. In the simulation, the accuracy of the provided electrical parameter identification technology was evaluated. The relevant simulation parameter settings are as follows: number of pole pairs , resistance , inductance , permanent magnet flux linkage , the speed command is selected as Step signal. The purpose of the simulation is to demonstrate the accuracy of the method. The sliding mode gain is selected , the feedback gain , , . Figures 4 - 6 respectively represent the results of the identification processes of inductance, resistance, and magnetic flux linkage. The identified values all converge to the vicinity of the true values within 2 s, and the results are 2.323 mH, 0.6107 , 0.11995 Wb respectively, and the identification errors are 0.13%, 0.11%, and 0.04%, proving that the identification accuracy is relatively high.

[0057] In this embodiment, first, based on the voltage equation of the permanent magnet synchronous motor, corresponding extended sliding mode observers are constructed according to the stator resistance, inductance, and permanent magnet flux linkage respectively. Then, the sliding mode surfaces, sliding mode gains, and feedback gains corresponding to each extended sliding mode observer are determined. After that, multiple extended sliding mode observers are discretely interconnected according to the sliding mode surfaces, sliding mode gains, and feedback gains to obtain an interconnected extended sliding mode observer. Finally, the electrical parameters of the permanent magnet synchronous motor are online jointly identified through the interconnected extended sliding mode observer. In this embodiment, three extended sliding mode observers with time-varying feedback gains are constructed for three electrical parameters, and then an interconnected network is constructed. The estimated information of the three observers is interactively updated, ensuring the accuracy of the electrical parameter identification while enabling the interconnected extended sliding mode observer to perform online joint identification of the three electrical parameters of the permanent magnet synchronous motor system.

[0058] Referring to Figure 7 , Figure 7 is the structural block diagram of the first embodiment of the electrical parameter online joint identification system of the present invention.

[0059] As Figure 7 shown, the electrical parameter online joint identification system proposed in the embodiment of the present invention includes: A construction module 7001, configured to construct corresponding extended sliding mode observers according to the stator resistance, inductance, and permanent magnet flux linkage based on the voltage equation of the permanent magnet synchronous motor; A calculation module 7002, configured to determine the sliding mode surfaces, sliding mode gains, and feedback gains corresponding to each extended sliding mode observer; An interconnection module 7003, configured to discretely interconnect multiple extended sliding mode observers according to the sliding mode surface, the sliding mode gain, and the feedback gain to obtain an interconnected extended sliding mode observer; An identification module 7004, configured to perform online joint identification of the electrical parameters of the permanent magnet synchronous motor through the interconnected extended sliding mode observer.

[0060] Other embodiments or specific implementation manners of the electrical parameter online joint identification system of the present invention may refer to the above method embodiments, which will not be elaborated here.

[0061] It should be noted that in this text, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article or system including a series of elements not only includes those elements but also other elements not expressly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or system including such element.

[0062] The serial numbers of the above-described embodiments of the present invention are only for description and do not represent the superiority or inferiority of the embodiments.

[0063] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present invention, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as a read-only memory / random access memory, magnetic disk, optical disk) and includes several instructions for causing a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0064] The above are only the preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. An online joint identification method of electrical parameters, characterized in that: The electrical parameter online joint identification method comprises the following steps: Based on the voltage equation of permanent magnet synchronous motor, corresponding extended sliding mode observers are constructed according to stator resistance, inductance and permanent magnet flux. Determine the sliding surface, sliding gain and feedback gain corresponding to each extended sliding mode observer; Discretely interconnecting a plurality of extended sliding mode observers according to the sliding surface, the sliding mode gain, and the feedback gain to obtain an interconnected extended sliding mode observer; The electrical parameters of the permanent magnet synchronous motor are jointly identified online through the interconnected extended sliding mode observer.

2. The method according to claim 1, characterized in that The steps of constructing corresponding extended sliding mode observers based on the voltage equation of the permanent magnet synchronous motor according to the stator resistance, inductance and permanent magnet flux respectively include: Obtain the voltage, current, electrical angular velocity and electrical angle of the permanent magnet synchronous motor; Constructing a voltage equation of the permanent magnet synchronous motor according to the voltage, the current, the electrical angular velocity and the electrical angle; The voltage equation is converted into a current differential equation, and corresponding extended sliding mode observers are respectively constructed based on the current differential equation according to the stator resistance, inductance and permanent magnet flux.

3. The method according to claim 1, characterized in that The step of determining the sliding mode surface corresponding to each extended sliding mode observer comprises: Determine the current estimation value corresponding to each extended sliding mode observer; The sliding mode surfaces corresponding to each extended sliding mode observer are determined respectively according to the current estimation value corresponding to each extended sliding mode observer and the current of the permanent magnet synchronous motor.

4. The method according to claim 3, characterized in that The step of determining the sliding mode gain corresponding to each extended sliding mode observer comprises: Determine respectively the observed current error value, the inductance derivative error value, the resistance error value and the permanent magnet flux error value corresponding to each extended sliding mode observer; Based on the observed current error value, the inductance derivative error value, the resistance error value and the permanent magnet flux linkage error value, respectively construct state quantity error equations of each extended sliding mode observer; The sliding mode gains corresponding to each extended sliding mode observer are determined respectively according to each state quantity error equation and each observed current error value.

5. The method according to claim 4, characterized in that The step of constructing the state quantity error equations of each extended sliding mode observer based on the current error value, the inductance derivative error value, the resistance error value and the permanent magnet flux error value respectively comprises: Determine the corresponding sliding mode observer signals according to the sliding mode surfaces corresponding to the extended sliding mode observers; The state error equations of each extended sliding mode observer are respectively constructed based on the observed current error value, the inductance derivative error value, the resistance error value, the permanent magnet flux error value and the sliding mode observer signal.

6. The method according to claim 4, characterized in that The step of determining the sliding mode gain corresponding to each extended sliding mode observer according to each state quantity error equation and each observed current error value comprises: Determine a plurality of state parameters corresponding to each state quantity error equation; Based on multiple state parameters corresponding to the error equations of each state quantity, the time derivatives corresponding to each extended sliding mode observer are determined respectively through Lyapunov functions; When the time derivative satisfies the sliding mode reachability condition, the sliding mode gains corresponding to the extended sliding mode observers are determined respectively according to the error equations of the state quantities and the error values ​​of the observed currents.

7. The method according to claim 4, characterized in that The step of determining the feedback gain corresponding to each extended sliding mode observer includes: Determine the inductance derivative error equation corresponding to each extended sliding mode observer; According to the inductance derivative error equation and the state quantity error equation corresponding to each extended sliding mode observer, the identification error equation corresponding to each extended sliding mode observer is constructed; The feedback gain corresponding to each extended sliding mode observer is determined based on the identification error equation corresponding to each extended sliding mode observer.

8. An electrical parameter online joint identification system, characterized in that: The electrical parameter online joint identification system comprises: A construction module is used to construct corresponding extended sliding mode observers according to stator resistance, inductance and permanent magnet flux linkage based on the voltage equation of the permanent magnet synchronous motor; A calculation module, used for determining the sliding surface, sliding gain and feedback gain corresponding to each extended sliding mode observer; An interconnection module, configured to discretely interconnect a plurality of extended sliding mode observers according to the sliding surface, the sliding mode gain and the feedback gain, so as to obtain an interconnected extended sliding mode observer; An identification module is used to perform online joint identification of the electrical parameters of the permanent magnet synchronous motor through the interconnected extended sliding mode observer.

9. An electrical parameter online joint identification device, characterized in that: The device comprises: a memory, a processor, and an electrical parameter online joint identification program stored in the memory and executable on the processor, wherein the electrical parameter online joint identification program is configured to implement the steps of the electrical parameter online joint identification method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores an electrical parameter online joint identification program, and when the electrical parameter online joint identification program is executed by the processor, the steps of the electrical parameter online joint identification method according to any one of claims 1 to 7 are implemented.

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