Method and device for online self-optimization of current regulator parameters, and control method and device

Abstract

The present invention discloses a method and device for online self-optimization of current regulator parameters, and a control method and device. The method for online self-optimization of current regulator parameters is as follows: subtracting the given amplitude of the motor stator current from the motor stator current amplitude and performing differential calculation; formulating adjustment rules based on the difference and differential of the motor stator current amplitude and the optimal bandwidth of the current control loop at the previous moment, and generating an adjustment rule table; obtaining the self-optimization bandwidth of the current control loop at the current moment by searching the adjustment rule table; obtaining the parameters of the online self-optimization current controller of the current control loop at the current moment based on the self-optimization bandwidth of the current control loop at the current moment. This method can simultaneously improve the static and dynamic performance of the motor drive system while ensuring the stability of the motor operation, effectively solves the influence of the resonance phenomenon on the stability in the LC filter type permanent magnet synchronous motor control system, and improves the static and dynamic performance of the motor drive system when facing different working conditions.

Description

Technical Field

[0001] The present invention belongs to the field of permanent magnet synchronous motor control, and in particular relates to a method and device for online self-optimization of current regulator parameters, and a control method and device. Background Art

[0002] Interior permanent magnet synchronous motors (IPMSMs) are widely used in industrial applications due to their advantages in power density, operating efficiency, and control performance. IPMSMs are typically powered directly by a voltage source inverter (VSI), which uses pulse-width modulation (PWM) to regulate the VSI output voltage. However, the rapid switching of the VSI's power switches results in a high voltage rate of change (dV / dt), which leads to several problems, such as increased insulation stress on the motor side, shaft voltage and bearing current, and reduced motor life. To mitigate these issues, adding an LC sinusoidal filter between the VSI and the IPMSM is an effective method. However, the addition of an LC sinusoidal filter increases the order of the motor control system, and the inherent resonance of the current control loop in the flux-oriented controller (FOC) inevitably affects the operational stability.

[0003] Typically, to overcome the impact of resonance on FOC stability, passive and active damping methods can be employed within the control structure to increase the damping effect of the control system. However, most passive damping methods achieve resonance suppression by adding appropriate damping resistors to the controlled object. Furthermore, the addition of additional resistors causes unnecessary power loss, which can severely impact the efficiency of the motor drive system. Active damping, on the other hand, can create a virtual damping resistor within the control system using real-time measured state variables. This virtual resistor can eliminate resonance without adding additional power loss. However, the selection of control parameters for active damping can affect the operational stability of the control system, placing higher demands on the selection of control loop parameters. Furthermore, while FOC combined with active damping can ensure system stability compared to traditional motor drive systems, it is more difficult to simultaneously improve both the static and dynamic performance of the motor drive system, which can reduce the motor's performance under various operating conditions. Summary of the Invention

[0004] The present invention aims to provide a method and apparatus for online self-optimization of current regulator parameters, as well as a control method and apparatus. These methods address the difficulties in selecting stable control parameters for conventional LC-filtered permanent magnet synchronous motors, and the difficulty in balancing static and dynamic performance of motor drive systems under varying operating conditions. This invention not only ensures the operational stability of LC-filtered permanent magnet synchronous motors by adjusting control loop parameters according to varying operating conditions, but also simultaneously improves both the static and dynamic performance of motor drive systems.

[0005] The present invention is achieved according to the following technical solutions:

[0006] In a first aspect, the present invention provides a method for online self-optimization of current regulator parameters, the method comprising:

[0007] The motor stator current given amplitude is subtracted from the motor stator current amplitude, and differential calculation is performed;

[0008] Formulate regulation rules based on the difference and differential of the motor stator current amplitude and the optimal bandwidth of the current control loop at the previous moment, and generate a regulation rule table;

[0009] The current control loop self-optimization bandwidth at the current moment is obtained by looking up the adjustment rule table;

[0010] According to the current control loop self-optimization bandwidth at the current moment, the parameters of the online self-optimization current controller of the current control loop at the current moment are obtained.

[0011] The formulated adjustment rules are:

[0012] When |Δi sd (k)|>E high and When E low <|Δi sd (k)|≤E high and When 0<|Δi sd (k)|≤E low and When 0<|Δi sd (k)|≤E low and When |Δi sq (k)|>E high and When E low <|Δi sq (k)|≤E high and When 0<|Δi sq (k)|≤E low and When and when 0<|Δi sq(k)|≤E low and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows:

[0013] ω bd (k)=ω bd (k-1)

[0014] ω bq (k)=ω bq (k-1)

[0015] When E low <|Δi sd (k)|≤E high and When 0<|Δi sd (k)|≤E low and When E low <|Δi sq (k)|≤E high and When 0<|Δi sq (k)|≤E low and When , the calculation rule of the optimal bandwidth of the current control loop corresponding to time k is as follows:

[0016] ω bd (k)=0.998ω bd (k-1)

[0017] ω bq (k)=0.998ω bq (k-1)

[0018] When |Δi sd (k)|>E high and When E low <|Δi sd (k)|≤E high and When |Δi sq (k)|>E high and When and when E low <|Δi sq (k)|≤E high and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows:

[0019] ω bd (k)=1.002ω bd (k-1)

[0020] ω bq(k)=1.002ω bq (k-1)

[0021] When |Δi sd (k)|>E high and When |Δi sq (k)|>E high and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows:

[0022] ω bd (k)=1.004ω bd (k-1)

[0023] ω bq (k)=1.004ω bq (k-1)

[0024] Among them, E high Indicates the difference in the deviation value of the motor stator current amplitude △i sd ,△i sq The upper limit of the absolute value, E low Indicates the difference in the deviation value of the motor stator current amplitude △i sd ,△i sq The lower limit of the absolute value, E chigh The differential value representing the difference in the motor stator current amplitude The absolute upper limit of E clow The differential value representing the difference in the motor stator current amplitude The absolute lower limit of ω bd (k),ω bd (k-1), ω bq (k),ω bq (k-1) are the optimal bandwidths of the d-axis and q-axis current control loops at time k and time k-1 respectively.

[0025] In one embodiment, the online self-optimizing controller parameters include k pd (k),k id (k), k pq (k),k iq (k), its expression is:

[0026]

[0027] Among them, T d represents the time constant, T s Represents the sampling period, R s Indicates the motor stator resistance, L f Indicates the inductance value of the LC filter, C f Indicates the LC filter capacitance value, Ld Indicates the d-axis inductance of the permanent magnet synchronous motor, L q Indicates the q-axis inductance of the permanent magnet synchronous motor.

[0028] In a second aspect, the present invention provides a device for online self-optimization of current regulator parameters, the device comprising:

[0029] The stator current deviation module is used to calculate the difference between the motor stator current amplitude and the motor stator current amplitude;

[0030] The stator current deviation differential module is used to perform differential calculation on the difference in the motor stator current amplitude;

[0031] The optimal regulation rule module is used to formulate regulation rules based on the difference and differential of the motor stator current amplitude and the optimal bandwidth of the current control loop at the previous moment, and generate a regulation rule table;

[0032] The controller parameter tuning module is used to obtain the current control loop self-optimization bandwidth at the current moment by looking up the adjustment rule table, and obtain the parameters of the current control loop online self-optimization current controller at the current moment based on the current control loop self-optimization bandwidth at the current moment.

[0033] In a third aspect, the present invention provides an online liberalized current regulator module, the module comprising:

[0034] The above-mentioned device for online self-optimization of current regulator parameters is used to obtain the parameters of the online self-optimization current controller of the current control loop at the current moment;

[0035] The PI controller module is used to calculate the resonant voltage signal based on the parameters of the online self-optimizing controller of the current control loop and the difference between the motor stator current amplitudes at the current moment;

[0036] Active damping parameter self-adjustment module, used to obtain resonance suppression signal based on capacitor current and parameters of current control loop online self-optimization controller;

[0037] The inverter output voltage command module is used to calculate the inverter output voltage in the two-phase rotating coordinate system at time k through the resonant voltage signal and the resonance suppression signal.

[0038] In one embodiment, the vibration voltage signal u idr (k),u iqr (k), its expression is:

[0039]

[0040] Among them, k pd (k), k pq(k), k id (k), k iq (k) represents the parameters of the online self-optimizing current controller of the current control loop at time k, Δi sd (k), Δi sq (k) represents the difference in the motor stator current amplitude at time k, and s represents the Laplace operator.

[0041] In one embodiment, the resonance suppression signal u ids (k),u iqs (k), its expression is:

[0042]

[0043] Among them, T s represents the sampling period, R s Indicates the motor stator resistance, L f Indicates the inductance value of the LC filter, C f Indicates the LC filter capacitance value, L d Indicates the d-axis inductance of the permanent magnet synchronous motor, L q Indicates the q-axis inductance of the permanent magnet synchronous motor, ω resd represents the d-axis resonant frequency, ω resq Indicates the q-axis resonant frequency, cos(ω resd T s ) represents the cosine value of the d-axis resonance component, sin(ω resd T s ) represents the sine value of the d-axis resonance component, cos(ω resq T s ) represents the cosine value of the q-axis resonance component, sin(ω resq T s ) represents the sine value of the q-axis resonant component.

[0044] In a fourth aspect, the present invention provides a method for controlling an LC filter type permanent magnet synchronous motor, the method comprising:

[0045] Obtain the inverter side current, motor stator current and motor electrical angular velocity information at time k in the three-phase stationary rotating coordinate system, and calculate the motor stator current and capacitor current in the two-phase rotating coordinate system;

[0046] The motor stator current is given by the motor electrical angular velocity and the motor given speed information at time k;

[0047] The above-mentioned online liberalized current regulator module is used to calculate the inverter output voltage in the two-phase rotating coordinate system at time k;

[0048] According to the inverter output voltage instruction in the two-phase rotating coordinate system at time k, the inverter switching state at time k is obtained and applied to the switching device of the three-phase voltage source inverter.

[0049] In a fifth aspect, the present invention provides an LC filter type permanent magnet synchronous motor control device, the device comprising:

[0050] The signal acquisition module is used to obtain the inverter side current, motor stator current and motor electrical angular velocity information at time k in the three-phase stationary rotating coordinate system;

[0051] The current conversion module is used to calculate the motor stator current and capacitor current in the two-phase rotating coordinate system;

[0052] The motor stator current command generation module is used to generate the motor stator current given amplitude through the motor electrical angular velocity and motor given speed information at time k;

[0053] The above-mentioned online free current regulation module is used to calculate the inverter output voltage in the two-phase rotating coordinate system at time k;

[0054] The three-phase voltage source inverter module is used to obtain the inverter switching state at time k based on the inverter output voltage in the two-phase rotating coordinate system at time k and apply it to the three-phase voltage source inverter switching device.

[0055] In a sixth aspect, the present invention provides an LC filter type permanent magnet synchronous motor control system, which includes the above-mentioned LC filter type permanent magnet synchronous motor control device and LC filter module.

[0056] Beneficial effects of the present invention:

[0057] The present invention can simultaneously improve the static and dynamic performance of the motor drive system while ensuring the stability of the motor operation, effectively solves the influence of the resonance phenomenon on the stability in the LC filter type permanent magnet synchronous motor control system, and improves the static and dynamic performance of the motor drive system when facing different working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings, as part of this disclosure, are intended to provide a further understanding of the disclosure. The exemplary embodiments of the disclosure and their descriptions are intended to explain the disclosure and do not constitute undue limitations thereon. Obviously, the drawings described below are merely examples, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0059] Figure 1 A flow chart of a method for online self-optimization of current regulator parameters provided by one embodiment of the present invention;

[0060] Figure 2A flow chart of a method for controlling an LC filter type permanent magnet synchronous motor according to an embodiment of the present invention;

[0061] Figure 3 A structural diagram of an LC filter type permanent magnet synchronous motor control system provided by one embodiment of the present invention;

[0062] Figure 4 The following is a comparison chart of the experimental results using the traditional method and the method proposed in this invention (the motor suddenly increases the load by 27N.m and suddenly reduces the load by 27N.m);

[0063] Figure 5 The figure is a comparison of the experimental results of the traditional method and the method proposed in the present invention (the motor is operated at no-load from 750r / min to 1200r / min and then decelerated to 750r / min).

[0064] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but rather to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0066] In order to deepen the knowledge and understanding of the present invention, the technical solution of the present invention is further described below with reference to the accompanying drawings and specific embodiments.

[0067] The specific embodiments of the present invention are described in further detail below:

[0068] like Figure 1 As shown, an embodiment of the present invention provides a method for online self-optimization of current regulator parameters, which specifically includes the following steps:

[0069] Step S311: Subtract the given amplitude of the motor stator current from the amplitude of the motor stator current, and perform differential calculation.

[0070] Specifically, the motor stator current is given by amplitude i sd * 、i sq * The motor electrical angular velocity information ω collected at time k can be e , motor given speed N r * , calculated.

[0071] According to the calculated motor stator current given amplitude (i sd* ,i sq * ) and the motor stator current amplitude (i sd ,i sq ), and obtain the difference in the motor stator current amplitude (△i sd , △i sq ), we can calculate:

[0072]

[0073] The differential of the motor stator current amplitude difference is

[0074] Step S312: formulating an adjustment rule according to the difference and differential of the motor stator current amplitude and the optimal bandwidth of the current control loop at the previous moment, and generating an adjustment rule table.

[0075] Furthermore, the adjustment rules are formulated as follows:

[0076] When |Δi sd (k)|>E high and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows:

[0077] ω bd (k)=ω bd (k-1)

[0078] When E low <|Δi sd (k)|≤E high and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows:

[0079] ω bd (k)=0.998ω bd (k-1)

[0080] When 0<|Δi sd (k)|≤E low and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows:

[0081] ω bd (k)=0.998ω bd (k-1)

[0082] When |Δi sd (k)|>E high and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows:

[0083] ω bd(k)=1.002ω bd (k-1)

[0084] When E low <|Δi sd (k)|≤E high and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows:

[0085] ω bd (k)=ω bd (k-1)

[0086] When 0<|Δi sd (k)|≤E low and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows:

[0087] ω bd (k)=ω bd (k-1)

[0088] When |Δi sd (k)|>E high and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows:

[0089] ω bd (k)=1.004ω bd (k-1)

[0090] When E low <|Δi sd (k)|≤E high and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows:

[0091] ω bd (k)=1.002ω bd (k-1)

[0092] When 0<|Δi sd (k)|≤E low and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows:

[0093] ω bd (k)=ω bd (k-1)

[0094] When |Δi sq (k)|>E high and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows:

[0095] ω bq (k)=ω bq (k-1)

[0096] When E low <|Δi sq (k)|≤E high and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows:

[0097] ω bq (k)=0.998ω bq (k-1)

[0098] When 0<|Δi sq (k)|≤E low and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows:

[0099] ω bq (k)=0.998ω bq (k-1)

[0100] When |Δi sq (k)|>E high and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows:

[0101] ω bq (k)=1.002ω bq (k-1)

[0102] When E low <|Δi sq (k)|≤E high and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows:

[0103] ω bq (k)=ω bq (k-1)

[0104] When 0<|Δi sq (k)|≤E low and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows:

[0105] ω bq (k)=ω bq (k-1)

[0106] When |Δi sq (k)|>E high and When , the calculation rule of the optimal bandwidth of the current control loop corresponding to time k is as follows:

[0107] ω bq (k)=1.004ω bq (k-1)

[0108] When E low <|Δi sq (k)|≤E high and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows:

[0109] ω bq (k)=1.002ω bq (k-1)

[0110] When 0<|Δi sq (k)|≤E low and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows:

[0111] ω bq (k)=ω bq (k-1)

[0112] Among them, E high The deviation value represents the difference in the motor stator current amplitude (△i sd ,△i sq )The upper limit of the absolute value, E low The deviation value represents the difference in the motor stator current amplitude (△i sd ,△i sq )The lower limit of the absolute value, E chigh The differential value representing the difference in the motor stator current amplitude The absolute upper limit of E clow The differential value representing the difference in the motor stator current amplitude The absolute lower limit of .

[0113] According to the formulated adjustment rules, the adjustment rule table is generated as follows:

[0114]

[0115]

[0116] Specifically, the current control loop self-optimization bandwidth ω at the current moment bd (k),ω bq (k) The difference in the motor stator current amplitude (△i sd , △i sq ), differential of the motor stator current amplitude difference The optimal bandwidth of the current control loop at the previous moment ω bd (k-1),ω bq (k-1), find out by looking up the rules.

[0117] Step S313: Obtain the current self-optimization bandwidth of the current control loop at the current moment by searching the adjustment rule table.

[0118] Step S314: obtaining parameters of the online self-optimizing current controller of the current control loop at the current moment according to the self-optimizing bandwidth of the current control loop at the current moment.

[0119] Specifically, the current control loop online self-optimization controller parameter k at the current moment pd (k),k id (k), k pq (k),k iq (k) The current control loop self-optimization bandwidth ω at the current moment can be calculated bd (k),ω bq (k), we can calculate:

[0120]

[0121] Among them, T d represents the time constant, T s represents the sampling period, R s Indicates the motor stator resistance, L f Indicates the inductance value of the LC filter, C f Indicates the LC filter capacitance value, L d Indicates the d-axis inductance of the permanent magnet synchronous motor, L q Indicates the q-axis inductance of the permanent magnet synchronous motor.

[0122] The following is an embodiment of an apparatus for online self-optimization of current regulator parameters according to the present invention, which can be used to implement an embodiment of a method for online self-optimization of current regulator parameters according to the present invention. For details not disclosed in the embodiment of the apparatus for online self-optimization of current regulator parameters according to the present invention, please refer to the embodiment of the method for online self-optimization of current regulator parameters according to the present invention.

[0123] In one embodiment, a device for online self-optimization of current regulator parameters is proposed, referring to Figure 3 The content of the online self-optimizing current regulator module is shown in the figure. The device includes: the online self-optimizing current regulator module 2 includes a stator current deviation module 201, a stator current deviation differential module 202, an optimal adjustment rule module 203, and a controller parameter setting module 204. Among them,

[0124] The stator current deviation module 201 is used to calculate the difference between the motor stator current amplitude and the motor stator current;

[0125] The stator current deviation differential module 202 is used to perform differential calculation on the difference in the motor stator current amplitude;

[0126] The optimal regulation rule module 203 is used to formulate regulation rules according to the difference and differential of the motor stator current amplitude and the optimal bandwidth of the current control loop at the previous moment, and generate a regulation rule table;

[0127] The controller parameter setting module 204 is used to obtain the current control loop self-optimization bandwidth by searching the adjustment rule table, and obtain the parameters of the current control loop online self-optimization current controller according to the current control loop self-optimization bandwidth.

[0128] Specifically, the input of the stator current deviation module 201 is the given amplitude of the motor stator current (i sd * ,i sq * ) and the motor stator current amplitude (i sd ,i sq ), the output is the difference in the motor stator current amplitude (△i sd , △i sq ), the input of the stator current deviation differential module 202 is the difference in the motor stator current amplitude (△i sd , △i sq ), whose output is the differential of the motor stator current amplitude difference The input of the optimal regulation rule module 203 is the difference in the motor stator current amplitude at the current moment (△i sd (k), △i sq (k)), the difference in the motor stator current amplitude The optimal bandwidth of the current control loop at the previous moment ω bd (k-1),ω bq (k-1), the output is the current control loop self-optimization bandwidth ω at the current moment bd (k),ω bq (k). The input of the controller parameter setting module 204 is the current control loop self-optimization bandwidth ω at the current moment bd (k),ω bq (k), the output is the current control loop online self-optimization controller parameter k at the current moment pd (k),k id (k).

[0129] It should be noted that the various functional modules in the embodiments of the present invention may be integrated into a single processing module, or may be physically separate units, or two or more units may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or software functional modules.

[0130] In one embodiment, an online liberalization current regulator module is provided, the module comprising:

[0131] An online self-optimizing current regulator parameter device is used to obtain the parameters of the online self-optimizing current controller of the current control loop at the current moment;

[0132] The PI controller module 205 is used to calculate the resonant voltage signal based on the parameters of the online self-optimizing controller of the current control loop and the difference between the motor stator current amplitudes at the current moment;

[0133] Active damping parameter self-adjustment module 206, used to obtain a resonance suppression signal based on the capacitor current and the parameters of the current control loop online self-optimization controller at the current moment;

[0134] The inverter output voltage instruction module 207 is used to calculate the inverter output voltage through the resonant voltage signal and the resonance suppression signal.

[0135] It should be noted that the device for online self-optimization of current regulator parameters is described with reference to the aforementioned identical or similar parts and will not be repeated here.

[0136] Furthermore, the current control loop online self-optimization controller parameter k at the current moment pd (k),k id (k), k pq (k),k iq (k) and the difference between the motor stator current amplitude (△i sd , △i sq ), the output is the resonant voltage signal (u idr (k),u iqr (k)), the calculation process is as follows:

[0137]

[0138] Among them, k pd (k), k pq (k), k id (k), k iq (k) represents the parameters of the online self-optimizing current controller of the current control loop at time k, Δi sd (k), Δi sq (k) represents the difference in the motor stator current amplitude at time k, and s represents the Laplace operator.

[0139] Furthermore, the obtained LC filter capacitor current (i cd ,i cq ) and the current control loop online self-optimization controller parameter k pd (k), k pq (k) Its output is the resonance suppression signal (u ids (k),u iqs (k)), the calculation process is as follows:

[0140]

[0141] Among them, T s represents the sampling period, R s Indicates the motor stator resistance, L f Indicates the inductance value of the LC filter, C f Indicates the LC filter capacitance value, L d Indicates the d-axis inductance of the permanent magnet synchronous motor, L q Indicates the q-axis inductance of the permanent magnet synchronous motor, ω resd represents the d-axis resonant frequency, ω resq Indicates the q-axis resonant frequency, cos(ω resd T s ) represents the cosine value of the d-axis resonance component, sin(ω resd T s ) represents the sine value of the d-axis resonance component, cos(ω resq T s ) represents the cosine value of the q-axis resonance component, sin(ω resq T s ) represents the sine value of the q-axis resonant component.

[0142] Reference Figure 2 As shown, an embodiment of the present invention provides an LC filter type permanent magnet synchronous motor control method, the method specifically comprising the following steps:

[0143] Step S100: Obtain the inverter side current, motor stator current and motor electrical angular velocity information at time k in a three-phase stationary rotating coordinate system, and calculate the motor stator current and capacitor current in a two-phase rotating coordinate system.

[0144] Furthermore, the inverter side current i in the three-phase stationary rotating coordinate system is ia 、i ib 、i ic , motor stator current i sa 、i sb 、i sc 、Motor electrical angular velocity information ω e The inverter side current i in the three-phase stationary coordinate system at time k can be obtainedia 、i ib , motor stator current i sa 、i sb 、Motor rotor electrical angle information θ e , we calculate:

[0145]

[0146] Motor stator current i in two-phase rotating coordinate system sd 、i sq , capacitor current i cd 、i cq The inverter side current i in the three-phase stationary coordinate system at time k can be obtained ia 、i ib 、i ic , motor stator current i sa 、i sb 、i sc 、Motor rotor electrical angle information θ e , we calculate:

[0147]

[0148] Step S200: deriving a given amplitude of the motor stator current through the motor electrical angular velocity and the motor given speed information at time k.

[0149] Furthermore, the motor stator current is given by amplitude i sd * 、i sq * The motor electrical angular velocity information ω collected at time k can be e , motor given speed N r * , we calculate:

[0150]

[0151] where k p 、k i Respectively represent the proportional coefficient and integral coefficient of the speed loop PI controller, n p represents the number of pole pairs of the permanent magnet synchronous motor, and s represents the Laplace operator.

[0152] Step S300: using an online liberalized current regulator module to calculate the inverter output voltage in a two-phase rotating coordinate system at time k.

[0153] In the embodiment of the present application, an online free current regulator module is used to calculate the inverter output voltage in the two-phase rotating coordinate system at time k, including:

[0154] Step S310: obtaining the parameters of the online self-optimizing current controller of the current control loop at the current moment through the device for online self-optimizing current regulator parameters;

[0155] Step S320: Calculating a resonant voltage signal based on the parameters of the online self-optimizing controller of the current control loop and the difference between the motor stator current amplitudes at the current moment;

[0156] Step S330: Obtaining a resonance suppression signal based on the capacitor current and the parameters of the current control loop online self-optimization controller at the current moment;

[0157] Step S340: Calculate the output voltage of the inverter in the two-phase rotating coordinate system at time k using the resonant voltage signal and the resonance suppression signal.

[0158] Furthermore, the resonant voltage signal (u idr (k),u iqr (k)) and resonance suppression signal (u ids (k),u iqs (k)), whose output is the inverter output voltage command (u id * (k),u iq * (k)), the calculation process is as follows:

[0159]

[0160] Step S400: According to the inverter output voltage in the two-phase rotating coordinate system at time k, the inverter switching state at time k is obtained and applied to the switching device of the three-phase voltage source inverter.

[0161] It should be noted that the method for online self-optimization of current controller parameters is described with reference to the aforementioned identical or similar parts and will not be repeated here.

[0162] Continue to refer to Figure 3 As shown, in one embodiment, an LC filter type permanent magnet synchronous motor control device is proposed, the device comprising:

[0163] Signal acquisition module 3, used to obtain the inverter side current, motor stator current and motor electrical angular velocity information at time k in a three-phase stationary rotating coordinate system;

[0164] The current conversion module 4 is used to calculate the stator current and capacitor current of the motor in the two-phase rotating coordinate system;

[0165] The motor stator current command generating module 1 is used to set the motor stator current amplitude according to the motor electrical angular velocity and the motor given speed information at time k;

[0166] The online free current regulation module 2 is used to calculate the inverter output voltage in the two-phase rotating coordinate system at time k;

[0167] The three-phase voltage source inverter module 5 is used to obtain the inverter switching state at time k according to the inverter output voltage in the two-phase rotating coordinate system at time k and apply it to the three-phase voltage source inverter switching device.

[0168] Furthermore, the signal acquisition module 3 inputs the two-phase inverter side current (i ia 、i ib ), two-phase motor stator current (i sa 、i sb ) and the motor rotor position parameter (θ e ), whose output is the three-phase inverter side current (i iabc ), three-phase motor stator current (i sabc ), motor rotor position (θ e ) and the motor electrical angular velocity ω e , the calculation process is as follows:

[0169]

[0170] Current conversion module 4 inputs three-phase inverter side current (i iabc ), three-phase motor stator current (i sabc ), motor rotor position (θ e ), the output is the motor stator current (i sd 、i sq ), three-phase LC filter capacitor current (i cd 、i cq ), the calculation process is as follows:

[0171]

[0172] The online self-optimizing current regulator module 2 includes a stator current deviation module 201 , a stator current deviation differential module 202 , an optimal regulation rule module 203 , and a controller parameter setting module 204 .

[0173] It should be noted that the device for online self-optimization of current controller parameters is described with reference to the aforementioned identical or similar parts and will not be repeated here.

[0174] The various functional modules in the embodiments of the present invention may be integrated into a processing module, or may be physically separate units, or two or more units may be integrated into a module. The above-mentioned integrated modules may be implemented in the form of hardware or software functional modules.

[0175] Continue to refer to Figure 3 As shown, in one embodiment, an LC filter type permanent magnet synchronous motor control system is proposed. The system includes an LC filter type permanent magnet synchronous motor control device and an LC filter module 6.

[0176] The current conversion module 4 outputs the current (i sd 、i sq ) and (i cd 、i cq ) is input into the LC filter-type permanent magnet synchronous motor control device, generating a drive signal for the inverter power switch device, which acts on the three-phase inverter module 5. The three-phase inverter module 5 is connected to the permanent magnet synchronous motor 7 through the LC filter 6, enabling the permanent magnet synchronous motor 7 to implement LC filter-type permanent magnet synchronous motor control based on the online self-optimizing current regulator.

[0177] It should be noted that the LC filter type permanent magnet synchronous motor control device is described with reference to the same or similar parts above and will not be repeated here.

[0178] Figure 4 A comparison chart of the experimental results of a four-pole permanent magnet synchronous motor with a rated power of 15 kW and a rated speed of 1500 r / min using the traditional method and the method proposed in this invention is given. The figure shows the d-axis and q-axis current and phase current waveforms of the permanent magnet synchronous motor when the motor is suddenly loaded with 27 N.m and suddenly reduced with 27 N.m (where a corresponds to the experimental waveform of the traditional method and b corresponds to the experimental waveform of the method proposed in this invention).

[0179] Figure 5 A comparison chart of the experimental results of a four-pole permanent magnet synchronous motor with a rated power of 15kW and a rated speed of 1500r / min using the traditional method and the method proposed in this invention is given. The figure shows the d-axis and q-axis current and phase current waveforms of the permanent magnet synchronous motor when the motor is running at no-load from 750r / min to 1200r / min and then decelerated to 750r / min (where a corresponds to the experimental waveform of the traditional method and b corresponds to the experimental waveform of the method proposed in this invention).

[0180] Figure 4 and Figure 5 It shows that the LC filter type permanent magnet synchronous motor control method based on online self-optimizing current regulator described in the present invention can ensure the stability of the motor drive system under different working conditions compared with the traditional method, and greatly improve the static and dynamic performance of the motor stator current, thereby achieving performance improvement of the motor drive system.

[0181] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as above in terms of a preferred embodiment, it is not intended to limit the present invention. Any technician familiar with this patent can make slight changes or modifications to equivalent embodiments using the above-mentioned technical contents without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the invention without departing from the content of the technical solution of the present invention are still within the scope of the present invention.

Claims

1. A method for online self-optimization of current regulator parameters, characterized in that: The method comprises: The motor stator current given amplitude is subtracted from the motor stator current amplitude, and differential calculation is performed; Formulate regulation rules based on the difference and differential of the motor stator current amplitude and the optimal bandwidth of the current control loop at the previous moment, and generate a regulation rule table; The current control loop self-optimization bandwidth at the current moment is obtained by looking up the adjustment rule table; According to the current control loop self-optimization bandwidth at the current moment, the parameters of the online self-optimization current controller of the current control loop at the current moment are obtained.

2. The method for online self-optimization of current controller parameters according to claim 1, characterized in that: The formulated adjustment rules are: when and when and when and when and when and when and when and Time and and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows: ， ， when and when and when and Time and and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows: ， ， when and When and When and Time and and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows: ， ， when and when and When , the calculation rule for the optimal bandwidth of the current control loop at time k is as follows: ， ， Among them, E high Indicates the difference in the deviation value of the motor stator current amplitude △i sd ,△i sq The upper limit of the absolute value, E low Indicates the difference in the deviation value of the motor stator current amplitude △i sd ,△i sq The lower limit of the absolute value, E chigh The differential value representing the difference in the motor stator current amplitude 、 The absolute upper limit of E clow The differential value representing the difference in the motor stator current amplitude 、 The absolute lower limit of , are the optimal bandwidths of the d-axis and q-axis current control loops at time k and time k-1 respectively.

3. The method for online self-optimization of current controller parameters according to claim 2, characterized in that: The online self-optimizing controller parameters include k pd (k), k id (k), k pq (k), k iq (k), its expression is: ， Among them, T d represents the time constant, T s Represents the sampling period, R s represents the motor stator resistance, Indicates the LC filter inductance value, Indicates the LC filter capacitance value, Indicates the d-axis inductance of the permanent magnet synchronous motor, Indicates the q-axis inductance of the permanent magnet synchronous motor.

4. A device for online self-optimization of current regulator parameters, characterized in that: the device comprises: The stator current deviation module is used to calculate the difference between the motor stator current amplitude and the motor stator current amplitude; The stator current deviation differential module is used to perform differential calculation on the difference in the motor stator current amplitude; The optimal regulation rule module is used to formulate regulation rules based on the difference and differential of the motor stator current amplitude and the optimal bandwidth of the current control loop at the previous moment, and generate a regulation rule table; The controller parameter tuning module is used to obtain the current control loop self-optimization bandwidth at the current moment by looking up the adjustment rule table, and obtain the parameters of the current control loop online self-optimization current controller at the current moment based on the current control loop self-optimization bandwidth at the current moment.

5. An online self-optimizing current regulator module, characterized in that: The modules include: The device for online self-optimizing current regulator parameters according to claim 4 is used to obtain the parameters of the online self-optimizing current controller of the current control loop at the current moment; The PI controller module is used to calculate the resonant voltage signal based on the parameters of the online self-optimizing controller of the current control loop and the difference between the motor stator current amplitudes at the current moment; Active damping parameter self-adjustment module, used to obtain resonance suppression signal based on capacitor current and parameters of current control loop online self-optimization controller; The inverter output voltage command module is used to calculate the inverter output voltage in the two-phase rotating coordinate system at time k through the resonant voltage signal and the resonance suppression signal.

6. The online self-optimizing current regulator module according to claim 5, characterized in that: The vibration voltage signal u idr (k), u iqr (k), its expression is: ， in, 、 、 、 represents the parameters of the online self-optimizing current controller of the current control loop at time k, 、 represents the difference in the motor stator current amplitude at time k, and s represents the Laplace operator.

7. The online self-optimizing current regulator module according to claim 6, characterized in that: The resonance suppression signal u ids (k),u iqs (k), its expression is: ， Among them, T s represents the sampling period, R s represents the motor stator resistance, Indicates the LC filter inductance value, Indicates the LC filter capacitance value, Indicates the d-axis inductance of the permanent magnet synchronous motor, Indicates the q-axis inductance of the permanent magnet synchronous motor, i cd 、 i cq represents the LC filter capacitor current, represents the d-axis resonant frequency, represents the q-axis resonant frequency, represents the cosine value of the d-axis resonance component, represents the sine value of the d-axis resonant component, represents the cosine value of the q-axis resonant component, Indicates the sine value of the q-axis resonant component.

8. A method for controlling an LC filter type permanent magnet synchronous motor, characterized in that: The method comprises: Obtain the inverter side current, motor stator current and motor electrical angular velocity information at time k in the three-phase stationary rotating coordinate system, and calculate the motor stator current and capacitor current in the two-phase rotating coordinate system; The motor stator current is given by the motor electrical angular velocity and the motor given speed information at time k; The online self-optimizing current regulator module according to claim 5 is used to calculate the inverter output voltage in the two-phase rotating coordinate system at time k; According to the output voltage of the inverter in the two-phase rotating coordinate system at time k, the switching state of the inverter at time k is obtained and applied to the switching device of the three-phase voltage source inverter.

9. An LC filter type permanent magnet synchronous motor control device, characterized in that: The device comprises: The signal acquisition module is used to obtain the inverter side current, motor stator current and motor electrical angular velocity information at time k in the three-phase stationary rotating coordinate system; The current conversion module is used to calculate the motor stator current and capacitor current in the two-phase rotating coordinate system; The motor stator current command generation module is used to generate the motor stator current given amplitude through the motor electrical angular velocity and motor given speed information at time k; An online self-optimizing current regulator module as described in claim 5, used to calculate the inverter output voltage in a two-phase rotating coordinate system at time k; The three-phase voltage source inverter module is used to obtain the inverter switching state at time k based on the inverter output voltage in the two-phase rotating coordinate system at time k and apply it to the three-phase voltage source inverter switching device.

10. An LC filter type permanent magnet synchronous motor control system, characterized in that: The system includes the LC filter type permanent magnet synchronous motor control device and the LC filter module according to claim 9.

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