Permanent magnet synchronous motor control method, system and equipment based on H infinity filtering, medium and product

Abstract

The invention discloses a permanent magnet synchronous motor control method, system and device based on H infinity filter, a medium and a product, and relates to the field of motors, and the method comprises the steps: optimizing the parameters of a permanent magnet synchronous motor at the current moment based on the H infinity filter; the permanent magnet synchronous motor parameters comprise stator resistance, stator inductance and permanent magnet flux linkage of the permanent magnet synchronous motor; based on the output rotating speed and the reference rotating speed of the permanent magnet synchronous motor at the current moment, a PI controller is adopted to determine reference stator current; based on the reference stator current, weak magnetic control is adopted to generate a stator current component; based on the stator current component and the optimized parameters of the permanent magnet synchronous motor, a mathematical model of the permanent magnet synchronous motor is adopted to calculate a reference stator voltage component; and converting the reference stator voltage component into a switching pulse of an inverter through space vector pulse width modulation so as to drive the permanent magnet synchronous motor. According to the invention, the control precision and robustness of the permanent magnet synchronous motor can be improved.

Description

Technical Field

[0001] The present application relates to the field of motors, and particularly to a permanent magnet synchronous motor control method, system, device, medium and product based on H-infinity filtering. Background Art

[0002] With the rapid development of modern industry and new energy technologies, permanent magnet synchronous motors have become indispensable key components in core fields such as electric vehicles, aerospace, and industrial automation. Their performance directly affects the system operation efficiency, reliability, and safety. The precise implementation of permanent magnet synchronous motor control can not only greatly improve the energy utilization efficiency, reduce energy consumption, but also significantly improve the dynamic response and steady-state performance of the system, while reducing noise and vibration, thereby enhancing the user experience and extending the service life of the equipment.

[0003] However, in practical applications, the current permanent magnet synchronous motor control technology is often affected by parameter perturbations such as stator resistance, inductance, and permanent magnet flux linkage, which often leads to the problem of mismatch between the model and the actual state of the system, thereby causing problems such as decreased control accuracy, increased stator current harmonic content, and large torque ripple. These problems severely limit the wide application of permanent magnet synchronous motors in high-precision and high-performance scenarios. Therefore, there is an urgent need to develop a motor control strategy with high precision, stronger robustness, and higher parameter adaptability to overcome these technical bottlenecks and further promote the innovation and application expansion of permanent magnet synchronous motor technology. Summary of the Invention

[0004] The purpose of the present application is to provide a permanent magnet synchronous motor control method, system, device, medium and product based on H-infinity filtering, which can improve the control accuracy and robustness of permanent magnet synchronous motors.

[0005] To achieve the above purpose, the present application provides the following solutions:

[0006] In the first aspect, the present application provides a permanent magnet synchronous motor control method based on H-infinity filtering, including:

[0007] Optimizing the parameters of the permanent magnet synchronous motor at the current moment based on an H-infinity filter; the permanent magnet synchronous motor parameters include the stator resistance, stator inductance, and permanent magnet flux linkage of the permanent magnet synchronous motor;

[0008] Determining the reference stator current using a PI controller based on the output speed and reference speed of the permanent magnet synchronous motor at the current moment;

[0009] Generating a stator current component using field-weakening control based on the reference stator current;

[0010] Calculating the reference stator voltage component using the mathematical model of the permanent magnet synchronous motor based on the stator current component and the optimized parameters of the permanent magnet synchronous motor;

[0011] The reference stator voltage component is converted into the switching pulses of the inverter through space vector pulse width modulation, thereby driving the permanent magnet synchronous motor.

[0012] Optionally, the parameters of the permanent magnet synchronous motor at the current moment are optimized based on the H-infinity filter, specifically including:

[0013] Obtain the output current of the permanent magnet synchronous motor at the current moment and the input information of the permanent magnet synchronous motor at the current moment; the input information includes current, voltage, speed and parameters;

[0014] Perform Clark transformation and Park transformation on the output current to obtain the stator current component;

[0015] Based on the stator current component and the input information, use the H-infinity filter to calculate the parameters of the permanent magnet synchronous motor at the next moment.

[0016] Optionally, based on the reference stator current, weak magnetic control is used to generate the stator current component, specifically including:

[0017] Use weak magnetic control to decompose the reference stator current into the stator current components of the d-axis and q-axis.

[0018] Optionally, the calculation formula for using the H-infinity filter to calculate the parameters of the permanent magnet synchronous motor at the next moment is:

[0019]

[0020]

[0021] Wherein, is the estimated value of the extended state vector of the permanent magnet synchronous motor at the moment t + 1; i d (t + 1) is the current component of the stator d-axis of the permanent magnet synchronous motor at the moment t + 1; i q (t + 1) is the current component of the stator q-axis of the permanent magnet synchronous motor at the moment t + 1; R(t + 1) is the stator resistance of the permanent magnet synchronous motor at the moment t + 1; L(t + 1) is the stator inductance of the permanent magnet synchronous motor at the moment t + 1; ψ f (t + 1) is the permanent magnet flux linkage of the permanent magnet synchronous motor at the moment t + 1; is the estimated value of the increment of the extended state vector of the permanent magnet synchronous motor at the moment t.

[0022] Optionally, the calculation formula for the estimated value of the increment of the extended state vector of the permanent magnet synchronous motor at the moment t is:

[0023]

[0024] Wherein, is the estimated value of the increment of the extended state vector of the permanent magnet synchronous motor at time t; is the estimated value of the derivative of the extended state vector of the permanent magnet synchronous motor at time t; Δt is the time difference; is the estimated value of the derivative of the extended state vector of the permanent magnet synchronous motor at time t; D, E, and F are all matrix parameters; is the estimated value of the extended state vector of the permanent magnet synchronous motor at time t; u(t) is the voltage component of the permanent magnet synchronous motor at time t; L is the filtering gain matrix; y(t) is the current component of the output current of the permanent magnet synchronous motor at time t.

[0025] Optionally, the expression of the mathematical model of the permanent magnet synchronous motor is:

[0026]

[0027] where, u d is the voltage component of the d-axis of the stator of the permanent magnet synchronous motor in the rotating coordinate system; R is the stator resistance of the permanent magnet synchronous motor; i d is the current component of the d-axis of the stator of the permanent magnet synchronous motor in the rotating coordinate system; L is the stator inductance of the permanent magnet synchronous motor; is the derivative of i d with respect to time t; ω e is the electrical angular velocity of the permanent magnet synchronous motor; i q is the current component of the q-axis of the stator of the permanent magnet synchronous motor in the rotating coordinate system; u q is the voltage component of the q-axis of the stator of the permanent magnet synchronous motor in the rotating coordinate system; is the derivative of i q with respect to time t; ψ f is the magnetic flux of the permanent magnet of the permanent magnet synchronous motor.

[0028] In a second aspect, the present application provides a permanent magnet synchronous motor control system based on H-infinity filtering, including:

[0029] A parameter optimization module for optimizing the parameters of the permanent magnet synchronous motor at the current moment based on an H-infinity filter; the permanent magnet synchronous motor parameters include the stator resistance, stator inductance, and permanent magnet flux of the permanent magnet synchronous motor;

[0030] A PI controller module for determining the reference stator current using a PI controller based on the output speed and reference speed of the permanent magnet synchronous motor at the current moment;

[0031] A field weakening control module for generating a stator current component using field weakening control based on the reference stator current;

[0032] A reference stator voltage component calculation module is used to calculate a reference stator voltage component based on the stator current component and the parameters of the optimized permanent magnet synchronous motor by using the mathematical model of the permanent magnet synchronous motor;

[0033] A space vector pulse width modulation module is used to convert the reference stator voltage component into switching pulses of an inverter through space vector pulse width modulation, so as to drive a permanent magnet synchronous motor.

[0034] In a third aspect, the present application provides a computer device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the computer program to implement the steps of the method for controlling a permanent magnet synchronous motor based on H-infinity filtering described in any one of the above.

[0035] In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method for controlling a permanent magnet synchronous motor based on H-infinity filtering described in any one of the above are implemented.

[0036] In a fifth aspect, the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, the steps of the method for controlling a permanent magnet synchronous motor based on H-infinity filtering described in any one of the above are implemented.

[0037] According to the specific embodiments provided by the present application, the present application has the following technical effects:

[0038] The present application provides a method, a system, a device, a medium and a product for controlling a permanent magnet synchronous motor based on H-infinity filtering. First, the parameters of the permanent magnet synchronous motor (including stator resistance, stator inductance and permanent magnet flux linkage) are online dynamically adaptively identified and optimized through an H-infinity filter, and the uncertainty caused by parameter perturbation in the motor model is corrected in real time, providing accurate system parameters for subsequent control strategies; Subsequently, according to the reference stator current provided by the PI controller, field weakening control is used to generate stator current components, and the field weakening control is used to expand the speed in the high-speed operation region by weakening the permanent magnet flux, ensuring the stability and efficient operation of the permanent magnet synchronous motor; Finally, the mathematical model of the permanent magnet synchronous motor calculates the reference stator voltage component based on the reference current (i.e., the stator current component) generated by the field weakening control, and converts the voltage signal into switching pulses of an inverter through space vector pulse width modulation (SVPWM), so as to drive a permanent magnet synchronous motor (Permanent Magnet Synchronous Motor, SPMSM) to achieve optimized voltage output. The whole process significantly improves the control accuracy, dynamic performance and robustness of the permanent magnet synchronous motor through the closed-loop coordination of parameter estimation, control optimization and accurate voltage output. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0040] Figure 1 Schematic diagram of the control method for a permanent magnet synchronous motor based on H-infinity filtering provided in an embodiment of the present application;

[0041] Figure 2 Principle block diagram of the control method for a permanent magnet synchronous motor based on H-infinity filtering provided in an embodiment of the present application;

[0042] Figure 3 Schematic diagram of the structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0044] To make the above objects, features, and advantages of the present application more obvious and understandable, the present application will be further described in detail below in conjunction with the drawings and specific embodiments.

[0045] In an exemplary embodiment, as Figure 1 shown, a control method for a permanent magnet synchronous motor based on H-infinity filtering is provided, including:

[0046] Step 1: Optimize the parameters of the permanent magnet synchronous motor at the current moment based on an H-infinity filter; the parameters of the permanent magnet synchronous motor include the stator resistance, stator inductance, and permanent magnet flux linkage of the permanent magnet synchronous motor.

[0047] Specifically, Step 1 specifically includes:

[0048] Step 11: Obtain the output current of the permanent magnet synchronous motor at the current moment, and the input information of the permanent magnet synchronous motor at the current moment; the input information includes current, voltage, speed, and parameters.

[0049] Step 12: Perform Clark transformation and Park transformation on the output current to obtain the stator current component.

[0050] Step 13: Based on the stator current components and input information, use an H-infinity filter to calculate the parameters of the permanent magnet synchronous motor at the next moment.

[0051] Specifically, perform online estimation of the stator resistance R, stator inductance L, and permanent magnet flux linkage ψ of the permanent magnet synchronous motor through H-infinity filtering. f Include the parameters R, L, ψ f into the state vector of the permanent magnet synchronous motor to establish an association with the dynamic behavior of the motor, and use an H-infinity filter to achieve dynamic identification of the parameters.

[0052] First, expand the state variables to obtain the expanded state variables. Expanded state vector: Use the parameters R, L, ψ to be estimated f as part of the state variables to construct the expanded state vector:

[0053]

[0054] where, x e (t) is the expanded state vector of the permanent magnet synchronous motor at time t; i d (t) is the current component of the d-axis of the stator of the permanent magnet synchronous motor at time t; i q (t) is the current component of the q-axis of the stator of the permanent magnet synchronous motor at time t; R(t) is the stator resistance of the permanent magnet synchronous motor at time t; L(t) is the stator inductance of the permanent magnet synchronous motor at time t; ψ f (t) is the permanent magnet flux linkage of the permanent magnet synchronous motor at time t.

[0055] Secondly, expand the state space model: According to the mathematical model and state equation of the permanent magnet synchronous motor, represent the parameter changes as part of the system dynamics:

[0056]

[0057] where, is the derivative of x e (t); A R is the influence matrix of the parameters to be estimated on the system dynamics; w(t) is the process noise; v(t) is the measurement noise. For the parameters R, L, ψ f it can be assumed that their changes are slow, that is

[0058] According to the above and expressions, the calculation formula for the state equation of the filter can be obtained:

[0059]

[0060] where, is the estimated value of the derivative of the extended state vector of the permanent magnet synchronous motor at time t; D, E, and F are all matrix parameters; is the estimated value of the extended state vector of the permanent magnet synchronous motor at time t; u(t) is the voltage component of the permanent magnet synchronous motor at time t; L is the filtering gain matrix; y(t) is the current component of the output current of the permanent magnet synchronous motor at time t.

[0061] The filtering gain matrix L is obtained by solving the generalized algebraic Riccati equation:

[0062]

[0063] where is the state covariance matrix, is the process noise covariance matrix, is the measurement noise covariance matrix.

[0064] The filtering gain is:

[0065]

[0066] Update the extended state estimate through the filter Extract the estimated value of the parameter from it: Thus, the parameters R, L, ψ of the permanent magnet synchronous motor at the next moment are obtained f , and the specific calculation formula is as follows:

[0067]

[0068] where is the estimated value of the increment of the extended state vector of the permanent magnet synchronous motor at time t; Δt is the time difference, representing the sampling time interval, which is a fixed value; is the estimated value of the extended state vector of the permanent magnet synchronous motor at time t + 1; i d (t + 1) is the current component of the stator d-axis of the permanent magnet synchronous motor at time t + 1; i q (t + 1) is the current component of the stator q-axis of the permanent magnet synchronous motor at time t + 1; R(t + 1) is the stator resistance of the permanent magnet synchronous motor at time t + 1; L(t + 1) is the stator inductance of the permanent magnet synchronous motor at time t + 1; ψ f (t + 1) is the permanent magnet flux linkage of the permanent magnet synchronous motor at time t + 1.

[0069] Step 2: Based on the output speed and reference speed of the permanent magnet synchronous motor at the current moment, use a PI controller to determine the reference stator current.

[0070] Step 3: Based on the reference stator current, use field-weakening control to generate stator current components.

[0071] Specifically, use field-weakening control to decompose the reference stator current into d-axis and q-axis stator current components.

[0072] Specifically, the process of the motor's field-weakening control aims to expand the high-speed operation ability of the motor by weakening the magnetic flux of the permanent magnet of the motor, while ensuring the stability and efficiency of the system. First, the controller generates a reference stator current i s . Subsequently, use field-weakening control to decompose i s into d-axis and q-axis reference current components and where is used to adjust the magnetic flux intensity of the permanent magnet to weaken the magnetic field, while is responsible for generating electromagnetic torque. Next, the reference current generates corresponding voltages u d and u q through current closed-loop regulation, and is converted into the drive signal of the inverter by space vector pulse width modulation (SVPWM).

[0073] Step 4: Based on the stator current components and the parameters of the optimized permanent magnet synchronous motor, use the mathematical model of the permanent magnet synchronous motor to calculate the reference stator voltage components.

[0074] Specifically, the expression of the mathematical model of the permanent magnet synchronous motor is:

[0075]

[0076] where, u d is the voltage component of the stator d-axis of the permanent magnet synchronous motor in the rotating coordinate system; R is the stator resistance of the permanent magnet synchronous motor; i d is the current component of the stator d-axis of the permanent magnet synchronous motor in the rotating coordinate system; L is the stator inductance of the permanent magnet synchronous motor; is the derivative of i d with respect to time t; ω e is the electrical angular velocity of the permanent magnet synchronous motor; i q is the current component of the stator q-axis of the permanent magnet synchronous motor in the rotating coordinate system; u q is the voltage component of the stator q-axis of the permanent magnet synchronous motor in the rotating coordinate system; is the derivative of i q with respect to time t; ψ f is the magnetic flux linkage of the permanent magnet of the permanent magnet synchronous motor.

[0077] Specifically, the mathematical model of the permanent magnet synchronous motor can also be transformed into a state equation. Define the state vector as: The input vector is: For the current derivative in the mathematical model formula of the permanent magnet synchronous motor and Extract them to obtain the following state equations:

[0078]

[0079]

[0080] C = I2 + AΔt.

[0081] D = BΔy.

[0082]

[0083] F = EΔt.

[0084]

[0085] Wherein, is the derivative of x(t); is the estimated value of the current component of the permanent magnet synchronous motor at time t + 1; is the estimated value of the current component of the stator d-axis of the permanent magnet synchronous motor at time t + 1; is the estimated value of the current component of the stator q-axis of the permanent magnet synchronous motor at time t + 1; A, B, C, D, E, F are all matrix parameters; I2 is a 2×2 identity matrix; Δt is the time difference.

[0086] Step 5: Convert the reference stator voltage components into the switching pulses of the inverter through space vector pulse width modulation, so as to drive the permanent magnet synchronous motor.

[0087] Specifically, the process of the motor space vector pulse width modulation (SVPWM) aims to generate a three-phase AC voltage close to the ideal sine wave by optimizing the inverter switching state. First, according to the reference values of the target d-axis and q-axis voltages u d and u q project the voltage vector onto the two-phase stationary coordinate system (α-β coordinate system) to form the target space voltage vector. Subsequently, determine the sector where the target vector is located, and select two adjacent effective vectors and the zero vector in this sector for linear combination, and approximate the target vector by calculating the duty ratio of the action time of each vector. Finally, generate the pulse signals of each switching device of the inverter according to the calculation results, drive the inverter to generate the output voltage matching the target, so as to realize the precise control of the motor voltage and current, reduce harmonics, and improve the motor performance. The whole process takes high efficiency and high precision as the core and is applicable to various dynamic operating conditions.

[0088] In an exemplary embodiment, such asFigure 2 As shown, the specific process of the permanent magnet synchronous motor control method based on H-infinity filtering includes three major steps: parameter estimation, field weakening control, and space vector pulse width modulation (SVPWM). First, the key parameters of the motor (including stator resistance R, stator inductance L, and permanent magnet flux linkage ψ f etc.) are identified and optimized online dynamically through an H∞ filter, and the uncertainties caused by parameter perturbations in the motor model are corrected in real time, providing accurate system parameters for subsequent control strategies. Among them, the obtained i d and i q of the permanent magnet synchronous motor are the current components of the output current of the permanent magnet synchronous motor. Subsequently, based on the output speed ω e of the permanent magnet synchronous motor and the reference speed ω ref , a PI controller is used to determine the reference stator current i s , and field weakening control is adopted to dynamically calculate the reference currents of the d-axis and q-axis and to achieve speed increase control in the high-speed operation region by weakening the permanent magnet flux, ensuring system stability and efficient operation. Finally, based on the mathematical model of the permanent magnet synchronous motor, the voltage signals u d and u q of the d-axis and q-axis are calculated from the reference current generated by field weakening control, and the voltage signals are converted into the switching pulses of the inverter through space vector pulse width modulation (SVPWM), thereby driving the permanent magnet synchronous motor (PMSM) to achieve optimized voltage output. Through the closed-loop coordination of parameter estimation, control optimization, and accurate voltage output, the entire system significantly improves the control accuracy, dynamic performance, and robustness of the motor.

[0089] The beneficial effects of the permanent magnet synchronous motor control method based on H-infinity filtering proposed in this application are mainly manifested in that this method can dynamically identify the key parameters of the motor (such as stator resistance, inductance, and permanent magnet flux linkage, etc.) in real time under complex operating conditions, providing a reliable basis for the optimization of subsequent control strategies, enabling the motor control to achieve higher accuracy and robustness in both steady-state performance and dynamic response, thereby significantly reducing torque ripple, improving efficiency, and enhancing the adaptability and reliability of the system.

[0090] Based on the same inventive concept, the embodiments of this application also provide a control system for a permanent magnet synchronous motor for implementing the above-mentioned permanent magnet synchronous motor control method based on H-infinity filtering. The implementation solutions provided by this device to solve problems are similar to the implementation solutions described in the above method. Therefore, the specific limitations in one or more embodiments of the control system for a permanent magnet synchronous motor based on H-infinity filtering provided below can refer to the limitations on the permanent magnet synchronous motor control method based on H-infinity filtering in the above text, and will not be elaborated here.

[0091] In an exemplary embodiment, a permanent magnet synchronous motor control system based on H-infinity filtering is provided, including:

[0092] A parameter optimization module for optimizing the parameters of the permanent magnet synchronous motor at the current moment based on an H-infinity filter; the parameters of the permanent magnet synchronous motor include the stator resistance, stator inductance, and permanent magnet flux linkage of the permanent magnet synchronous motor.

[0093] A PI controller module for determining the reference stator current using a PI controller based on the output speed and reference speed of the permanent magnet synchronous motor at the current moment.

[0094] A field weakening control module for generating a stator current component using field weakening control based on the reference stator current.

[0095] A reference stator voltage component calculation module for calculating the reference stator voltage component using the mathematical model of the permanent magnet synchronous motor based on the stator current component and the optimized parameters of the permanent magnet synchronous motor.

[0096] A space vector pulse width modulation module for converting the reference stator voltage component into the switching pulses of the inverter through space vector pulse width modulation, thereby driving the permanent magnet synchronous motor.

[0097] In an exemplary embodiment, a computer device is provided. The computer device can be a server or a terminal, and its internal structure diagram can be as shown in Figure 3 shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used for the parameters of the permanent magnet synchronous motor. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals through a network connection. When the computer program is executed by the processor, it realizes the permanent magnet synchronous motor control method based on H-infinity filtering.

[0098] Those skilled in the art can understand that Figure 3The structure shown is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements. In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in the above method embodiments are implemented.

[0099] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0100] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0101] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0102] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memories can include read-only memory (ROM), magnetic tapes, floppy disks, flash memories, optical memories, high-density embedded non-volatile memories, resistive random access memories (ReRAM), magnetoresistive random access memories (MRAM), ferroelectric random access memories (FRAM), phase change memories (PCM), graphene memories, etc. Volatile memories can include random access memory (RAM) or external cache memories, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0103] The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logics, data processing logics based on quantum computing, etc., without limitation.

[0104] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0105] In this article, specific examples are used to elaborate on the principles and implementation manners of the present application. The descriptions of the above embodiments are only used to help understand the methods and core ideas of the present application; at the same time, for those of ordinary skill in the art, according to the ideas of the present application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A permanent magnet synchronous motor control method based on H-infinity filtering, characterized in that, The permanent magnet synchronous motor control method based on H-infinity filtering includes: Optimizing the parameters of the permanent magnet synchronous motor at the current moment based on an H-infinity filter; the permanent magnet synchronous motor parameters include the stator resistance, stator inductance, and permanent magnet flux linkage of the permanent magnet synchronous motor; Determining the reference stator current using a PI controller based on the output speed and reference speed of the permanent magnet synchronous motor at the current moment; Generating stator current components using field weakening control based on the reference stator current; Calculating the reference stator voltage component using the mathematical model of the permanent magnet synchronous motor based on the stator current components and the optimized parameters of the permanent magnet synchronous motor; Converting the reference stator voltage component into the switching pulses of the inverter through space vector pulse width modulation, thereby driving the permanent magnet synchronous motor.

2. The permanent magnet synchronous motor control method based on H-infinity filtering according to claim 1, wherein Optimizing the parameters of the permanent magnet synchronous motor at the current moment based on an H-infinity filter, specifically including: Obtaining the output current of the permanent magnet synchronous motor at the current moment and the input information of the permanent magnet synchronous motor at the current moment; the input information includes current, voltage, speed, and parameters; Performing Clark transformation and Park transformation on the output current to obtain stator current components; Calculating the parameters of the permanent magnet synchronous motor at the next moment using an H-infinity filter based on the stator current components and the input information.

3. The permanent magnet synchronous motor control method based on H-infinity filtering according to claim 1, characterized in that Generating stator current components using field weakening control based on the reference stator current, specifically including: Decomposing the reference stator current into d-axis and q-axis stator current components using field weakening control.

4. The permanent magnet synchronous motor control method based on H-infinity filtering according to claim 2, wherein, The calculation formula for calculating the parameters of the permanent magnet synchronous motor at the next moment using an H-infinity filter is: Among them, is the estimated value of the extended state vector of the permanent magnet synchronous motor at time t+1; i d (t+1) is the current component of the stator d-axis of the permanent magnet synchronous motor at time t+1; i q (t+1) is the current component of the stator q-axis of the permanent magnet synchronous motor at time t+1; R(t+1) is the stator resistance of the permanent magnet synchronous motor at time t+1; L(t+1) is the stator inductance of the permanent magnet synchronous motor at time t+1; ψ f (t+1) is the permanent magnet flux linkage of the permanent magnet synchronous motor at time t+1; is the estimated value of the increment of the extended state vector of the permanent magnet synchronous motor at time t.

5. The permanent magnet synchronous motor control method based on H-infinity filtering according to claim 4, characterized in that The calculation formula for the estimated value of the increment of the extended state vector of the permanent magnet synchronous motor at time t is: Among them, is the estimated value of the increment of the extended state vector of the permanent magnet synchronous motor at time t; is the estimated value of the derivative of the extended state vector of the permanent magnet synchronous motor at time t; Δt is the time difference; is the estimated value of the derivative of the extended state vector of the permanent magnet synchronous motor at time t; D, E, and F are all matrix parameters; is the estimated value of the extended state vector of the permanent magnet synchronous motor at time t; u(t) is the voltage component of the permanent magnet synchronous motor at time t; L is the filtering gain matrix; y(t) is the current component of the output current of the permanent magnet synchronous motor at time t.

6. The permanent magnet synchronous motor control method based on H-infinity filtering according to claim 1, characterized in that The expression of the mathematical model of the permanent magnet synchronous motor is: Among them, u d is the voltage component of the stator d-axis of the permanent magnet synchronous motor in the rotating coordinate system; R is the stator resistance of the permanent magnet synchronous motor; i d is the current component of the stator d-axis of the permanent magnet synchronous motor in the rotating coordinate system; L is the stator inductance of the permanent magnet synchronous motor; is the derivative of i d with respect to time t; ω e is the rotational speed of the permanent magnet synchronous motor; i q is the current component of the stator q-axis of the permanent magnet synchronous motor in the rotating coordinate system; u q is the voltage component of the stator q-axis of the permanent magnet synchronous motor in the rotating coordinate system; is the derivative of i q with respect to time t; ψ f is the magnetic flux linkage of the permanent magnet of the permanent magnet synchronous motor.

7. A permanent magnet synchronous motor control system based on H-infinity filtering, characterized in that, Applied to the permanent magnet synchronous motor control method based on H-infinity filtering described in any one of claims 1-6, the permanent magnet synchronous motor control system based on H-infinity filtering includes: A parameter optimization module for optimizing the parameters of the permanent magnet synchronous motor at the current moment based on an H-infinity filter; the permanent magnet synchronous motor parameters include the stator resistance, stator inductance, and permanent magnet flux linkage of the permanent magnet synchronous motor; A PI controller module for determining the reference stator current using a PI controller based on the output speed and reference speed of the permanent magnet synchronous motor at the current moment; A field weakening control module for generating stator current components using field weakening control based on the reference stator current; A reference stator voltage component calculation module for calculating the reference stator voltage component using the mathematical model of the permanent magnet synchronous motor based on the stator current components and the optimized parameters of the permanent magnet synchronous motor; A space vector pulse width modulation module for converting the reference stator voltage component into the switching pulses of the inverter through space vector pulse width modulation, thereby driving the permanent magnet synchronous motor.

8. A computer device, comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the permanent magnet synchronous motor control method based on H-infinity filtering described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the H-infinity filtering-based permanent magnet synchronous motor control method described in any one of claims 1-6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the H-infinity filtering-based permanent magnet synchronous motor control method described in any one of claims 1-6.

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