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

Abstract

The invention discloses a permanent magnet synchronous motor control method and device, a permanent magnet synchronous motor and a storage medium, and belongs to the technical field of motor control. The speed error value is determined according to the electric angular speed and the instruction speed of the permanent magnet synchronous motor; calculating a reference voltage adjustment value of a weak magnetic module according to the speed error value; and determining a weak magnetic module reference voltage according to the weak magnetic module reference voltage adjustment value, and performing weak magnetic control of the permanent magnet synchronous motor according to the weak magnetic module reference voltage. Through the mode, the reference voltage of the flux weakening module of the permanent magnet synchronous motor is accurately adjusted, the problem that the dynamic anti-disturbance performance of a motor control system is reduced under the high voltage utilization rate can be solved, good dynamic performance and anti-disturbance performance can be obtained in the speed regulation process of the motor, and the control efficiency of the motor is considered.

Description

Technical Field

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

[0002] Permanent magnet synchronous motors have been widely used due to their advantages such as high power density, high power factor, and high operating efficiency. However, limited by the output capacity of the inverter, field weakening control must be adopted to achieve high-speed operation of the permanent magnet synchronous motor above the base speed. Currently, field weakening control mainly includes feedforward field weakening control, feedback field weakening control, and hybrid field weakening control, etc. Among them, voltage feedback field weakening control has attracted wide attention from scholars and the industrial community due to its strong robustness.

[0003] The voltage feedback field weakening control method uses the given voltage or the voltage after pulse width modulation as the feedback quantity. Through closed-loop control, the output voltage of the inverter is controlled below the limit value, and the output of the PI regulator is used as the correction quantity of the d-axis current reference, increasing id in the reverse direction and reducing the stator magnetic flux to achieve high-speed operation of the motor. To improve the field weakening performance of the motor, generally, the method of increasing the voltage limit value is adopted to improve the utilization rate of the DC bus voltage of the inverter. High voltage utilization rate can improve the efficiency of the motor control system, but it will reduce the dynamic anti-disturbance performance of the motor control system and even cause overcurrent alarm faults.

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

[0005] The main purpose of the present invention is to provide a permanent magnet synchronous motor control method, device, permanent magnet synchronous motor and storage medium, aiming to solve the technical problem of the decline in the dynamic anti-disturbance performance of the motor control system under high voltage utilization rate in the prior art.

[0006] To achieve the above purpose, the present invention provides a permanent magnet synchronous motor control method, which includes the following steps:

[0007] Determine the speed error value according to the electrical angular velocity and the command speed of the permanent magnet synchronous motor;

[0008] Calculate the reference voltage adjustment value of the field weakening module according to the speed error value;

[0009] Determine the reference voltage of the field weakening module according to the reference voltage adjustment value of the field weakening module, and perform field weakening control of the permanent magnet synchronous motor according to the reference voltage of the field weakening module.

[0010] Optionally, the determining the speed error value according to the electrical angular velocity and the command speed of the permanent magnet synchronous motor includes:

[0011] Obtain the feedback speed of the permanent magnet synchronous motor through a position sensor or a position observer;

[0012] Determine the electrical angular velocity according to the feedback speed;

[0013] Determine the speed error value according to the electrical angular velocity and the command speed.

[0014] Optionally, the calculating the reference voltage adjustment value of the field weakening module according to the speed error value includes:

[0015] Determine the limit value range of the voltage adjustment value of the field weakening module;

[0016] Calculate the reference voltage adjustment value of the field weakening module according to the speed error value and the limit value range.

[0017] Optionally, the determining the limit value range of the voltage adjustment value of the field weakening module includes:

[0018] Obtain the preset maximum limit value and the maximum field weakening reference voltage;

[0019] Determine the minimum limit value according to the maximum field weakening reference voltage;

[0020] Determine the limit value range according to the preset maximum limit value and the minimum limit value.

[0021] Optionally, the calculating the reference voltage adjustment value of the field weakening module according to the speed error value and the limit value range includes:

[0022] Obtain the preset proportional coefficient;

[0023] Calculate the initial voltage adjustment value of the field weakening module according to the speed error value and the preset proportional coefficient;

[0024] Determine the reference voltage adjustment value of the field weakening module according to the limit value range and the initial voltage adjustment value.

[0025] Optionally, the determining the reference voltage of the field weakening module according to the reference voltage adjustment value of the field weakening module and performing field weakening control on the permanent magnet synchronous motor according to the reference voltage of the field weakening module includes:

[0026] Calculate the reference voltage of the field weakening module according to the reference voltage adjustment value of the field weakening module and the maximum value of the field weakening reference voltage;

[0027] Perform field weakening control on the permanent magnet synchronous motor according to the reference voltage of the field weakening module.

[0028] Optionally, the performing field weakening control on the permanent magnet synchronous motor according to the reference voltage of the field weakening module includes:

[0029] Update the reference voltage of the field weakening module to the field weakening module;

[0030] Perform field weakening control of the permanent magnet synchronous motor through the updated field weakening module. In addition, to achieve the above object, the present invention also provides a control device for a permanent magnet synchronous motor, the control device for a permanent magnet synchronous motor comprising:

[0031] A speed calculation module for determining a speed error value according to the electrical angular velocity and the command speed of the permanent magnet synchronous motor;

[0032] An adjustment calculation module for calculating an adjustment value of the reference voltage of the field weakening module according to the speed error value;

[0033] A field weakening control module for determining a reference voltage of the field weakening module according to the adjustment value of the reference voltage of the field weakening module, and performing field weakening control of the permanent magnet synchronous motor according to the reference voltage of the field weakening module.

[0034] In addition, to achieve the above object, the present invention also provides a permanent magnet synchronous motor, the permanent magnet synchronous motor comprising: a memory, a processor, and a permanent magnet synchronous motor control program stored on the memory and running on the processor, the permanent magnet synchronous motor control program being configured to implement the permanent magnet synchronous motor control method as described above.

[0035] In addition, to achieve the above object, the present invention also provides a storage medium, on which a permanent magnet synchronous motor control program is stored, and the permanent magnet synchronous motor control program, when executed by a processor, implements the permanent magnet synchronous motor control method as described above.

[0036] The present invention determines a speed error value according to the electrical angular velocity and the command speed of the permanent magnet synchronous motor; calculates an adjustment value of the reference voltage of the field weakening module according to the speed error value; determines the reference voltage of the field weakening module according to the adjustment value of the reference voltage of the field weakening module, and performs field weakening control of the permanent magnet synchronous motor according to the reference voltage of the field weakening module. In this way, accurate adjustment of the reference voltage of the field weakening module of the permanent magnet synchronous motor is achieved, the problem of the decline in the dynamic anti-disturbance performance of the motor control system under high voltage utilization can be solved, and good dynamic performance and anti-disturbance performance can be obtained during the motor speed regulation process, and the control efficiency of the motor can be taken into account. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a schematic structural diagram of a permanent magnet synchronous motor in a hardware operating environment related to the embodiment solution of the present invention;

[0038] Figure 2 is a schematic flowchart of the first embodiment of the permanent magnet synchronous motor control method of the present invention;

[0039] Figure 3 Schematic diagram of the implementation principle in an embodiment of the permanent magnet synchronous motor control method of the present invention;

[0040] Figure 4 Schematic flow chart of the second embodiment of the permanent magnet synchronous motor control method of the present invention;

[0041] Figure 5 Block diagram of the structure of the first embodiment of the permanent magnet synchronous motor control device of the present invention.

[0042] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0043] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0044] Referring to Figure 1 , Figure 1 Schematic diagram of the structure of the permanent magnet synchronous motor in the hardware operating environment involved in the embodiment solution of the present invention.

[0045] As Figure 1 shown, the permanent magnet synchronous motor may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0046] Those skilled in the art can understand that Figure 1 the structure shown in

[0047] does not constitute a limitation on the permanent magnet synchronous motor, and may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements. Figure 1As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a permanent magnet synchronous motor control program.

[0048] In Figure 1 In the permanent magnet synchronous motor shown, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the permanent magnet synchronous motor of the present invention may be arranged in the permanent magnet synchronous motor. The permanent magnet synchronous motor calls the permanent magnet synchronous motor control program stored in the memory 1005 through the processor 1001 and executes the permanent magnet synchronous motor control method provided by the embodiment of the present invention.

[0049] The embodiment of the present invention provides a permanent magnet synchronous motor control method. Refer to Figure 2 , Figure 2 which is a schematic flowchart of the first embodiment of a permanent magnet synchronous motor control method of the present invention.

[0050] In this embodiment, the permanent magnet synchronous motor control method includes the following steps:

[0051] Step S10: Determine a speed error value according to the electrical angular velocity and the command speed of the permanent magnet synchronous motor.

[0052] In this embodiment, the execution subject of this embodiment may be the permanent magnet synchronous motor. The permanent magnet synchronous motor has functions such as data processing, data communication, and program operation. The permanent magnet synchronous motor may be of any form or model. Of course, it may also be other devices with similar functions. This embodiment condition does not limit this. For the convenience of description, this embodiment is described by taking the permanent magnet synchronous motor as an example.

[0053] It should be noted that permanent magnet synchronous motors have been widely used due to their advantages such as high power density, high power factor, and high operating efficiency. However, limited by the output capacity of the inverter, field-weakening control must be adopted to achieve high-speed operation of the permanent magnet synchronous motor above the base speed. Currently, field-weakening control mainly includes feedforward field-weakening control, feedback field-weakening control, and hybrid field-weakening control, etc. Among them, voltage feedback field-weakening control has attracted wide attention from scholars and the industrial community for its strong robustness. The voltage feedback field-weakening control method uses the given voltage or the voltage after pulse width modulation as the feedback quantity. Through closed-loop control, the output voltage of the inverter is controlled below the limit value, and the output of the PI regulator is used as the correction amount of the d-axis current reference, increasing id in the reverse direction and reducing the stator magnetic flux to achieve high-speed operation of the motor. To improve the field-weakening performance of the motor, generally, the method of increasing the voltage limit value is adopted to improve the utilization rate of the DC bus voltage of the inverter. High voltage utilization rate can improve the efficiency of the motor control system, but it will reduce the dynamic anti-disturbance performance of the motor control system and even cause overcurrent alarm faults. Therefore, solving the problem of the decline in the dynamic anti-disturbance performance of the motor control system under high voltage utilization rate and improving the stability and reliability of the motor control system have important engineering practical significance. And through the solution of this embodiment, the reference voltage of the field-weakening module of the permanent magnet synchronous motor can be accurately adjusted, which can solve the problem of the decline in the dynamic anti-disturbance performance of the motor control system under high voltage utilization rate, and can obtain good dynamic performance and anti-disturbance performance during the motor speed regulation process and take into account the control efficiency of the motor.

[0054] It should be understood that a permanent magnet synchronous motor refers to a motor that provides excitation with permanent magnets. Adopting this structure eliminates the slip rings and brushes, making it simpler. At the same time, it reduces the manufacturing cost and improves the reliability of the motor operation. Also, because there is no need for excitation current and no excitation loss, the efficiency and power density of the motor are improved. The field-weakening module is a module composed of the rotor in the permanent magnet synchronous motor. When the rotor of the field-weakening module rotates, a back electromotive force is generated, and the back electromotive force will hinder the flow of current. When the motor speed exceeds the base speed, the back electromotive force will become large enough to generate a voltage in the motor that is opposite to the direction of the current, thereby restricting the increase in current and forming field-weakening speed regulation.

[0055] In specific implementation, the solution process of this embodiment is as Figure 3 shown. Calculate the maximum field-weakening voltage limit value before the field-weakening control algorithm of electromagnetic feedback, so as to adjust the voltage during the motor speed regulation process and improve the anti-disturbance performance of the motor.

[0056] It should be noted that first, the electrical angular velocity and the command speed of the permanent magnet synchronous motor are collected, and then the speed error value is calculated by combining the electrical angular velocity and the command speed.

[0057] Further, in order to accurately calculate the speed error value, step S10 further includes collecting the feedback speed of the permanent magnet synchronous motor through a position sensor or a position observer. Among them, the specific collection method of the feedback speed can be the speed information directly collected by the position sensor or the position observer. At the same time, the feedback speed can also be obtained through the speed observer algorithm, which is not limited in this embodiment.

[0058] It should be understood that after obtaining the feedback speed, the electrical angular velocity is converted according to the feedback speed, and then calculated in combination with the command speed to determine the speed error value.

[0059] In a specific implementation, the command speed is the speed of the rotor set by the user or limited in the operation command received when the permanent magnet synchronous motor operates normally.

[0060] It should be noted that the obtained electrical angular velocity, i.e., the feedback speed Spd_Fdb, is compared with the command speed Spd_Ref to obtain the speed error value Spd_Err.

[0061] Among them,

[0062] Spd_Err = Spd_Ref - Spd_Fdb

[0063] Step S20: Calculate the reference voltage adjustment value of the field weakening module according to the speed error value.

[0064] It should be understood that after determining the speed error value, it is calculated in combination with the limit value range of the voltage adjustment to obtain the adjustment value of the reference voltage.

[0065] Step S30: Determine the reference voltage of the field weakening module according to the reference voltage adjustment value of the field weakening module, and perform field weakening control of the permanent magnet synchronous motor according to the reference voltage of the field weakening module.

[0066] In a specific implementation, in order to determine the reference voltage of the field weakening module, the reference voltage adjustment value of the field weakening module is further processed and calculated in combination with the maximum value of the field weakening reference voltage to obtain the reference voltage of the field weakening module, and then field weakening control is performed based on the reference voltage of the field weakening module.

[0067] Further, in order to obtain better dynamic performance and anti-interference performance during the motor speed regulation process and take into account the control efficiency of the motor, first, the reference voltage adjustment value of the field weakening module and the maximum value of the field weakening reference voltage are combined for calculation to obtain the reference voltage of the field weakening module. Specifically, the calculated reference voltage adjustment value VFlux_Adj of the field weakening module is compared with the maximum value VFlux_Max of the field weakening reference voltage to obtain the reference voltage VFlux_Ref of the field weakening module.

[0068] VFlux_Ref = VFlux_Max + VFlux_Adj

[0069] It should be understood that after calculating the reference voltage of the field weakening module, the permanent magnet synchronous motor is configured based on the reference voltage of the field weakening module, so as to perform adaptive field weakening control.

[0070] Furthermore, in order to accurately perform field weakening control, the reference voltage of the field weakening module is first updated to the field weakening module, so as to realize the field weakening control of the entire permanent magnet synchronous motor through the field weakening module.

[0071] In this embodiment, the speed error value is determined according to the electrical angular velocity and the command speed of the permanent magnet synchronous motor; the reference voltage adjustment value of the field weakening module is calculated according to the speed error value; the reference voltage of the field weakening module is determined according to the reference voltage adjustment value of the field weakening module, and the field weakening control of the permanent magnet synchronous motor is performed according to the reference voltage of the field weakening module. In this way, the reference voltage of the field weakening module of the permanent magnet synchronous motor is accurately adjusted, the problem of the decline of the dynamic anti-disturbance performance of the motor control system under high voltage utilization rate can be solved, and good dynamic performance and anti-disturbance performance can be obtained during the motor speed regulation process, and the control efficiency of the motor can be taken into account.

[0072] Reference Figure 4 , Figure 4 is the schematic flowchart of the second embodiment of a control method for a permanent magnet synchronous motor according to the present invention.

[0073] Based on the above first embodiment, the control method of the permanent magnet synchronous motor in this embodiment includes in the step S20:

[0074] Step S201: Determine the limit value range of the voltage adjustment value of the field weakening module.

[0075] It should be noted that the complete limit value range is determined according to the preset maximum limit value and the calculated minimum limit value.

[0076] Furthermore, in order to determine the limit value range, in step S210, the preset maximum limit value and the maximum field weakening reference voltage are first obtained, where the maximum limit value is 0, and the minimum value needs to meet the constraint conditions according to the debugging requirements of the actual application working conditions.

[0077] It should be understood that the constraint conditions that the minimum value needs to meet according to the debugging requirements of the actual application working conditions are as follows:

[0078] -0.1VFlux_Max ≤ VFlux_Min < 0

[0079] Among them, VFlux_Max is the maximum field weakening reference voltage.

[0080] Step S202: Calculate the reference voltage adjustment value of the field weakening module according to the speed error value and the limit value range.

[0081] In a specific implementation, in order to accurately determine the reference voltage adjustment value, it is also necessary to calculate in combination with a preset proportionality coefficient.

[0082] Further, calculate the reference voltage adjustment value VFlux_Adj of the field weakening module from the obtained speed error value Spd_Err, and limit it to a maximum of 0 and a minimum of VFlux_Min. Among them, if the reference voltage adjustment value exceeds the limit value range, select the boundary value closer to the limit value range as the adjustment value.

[0083] VFlux_Adj = Spd_Err * Kp

[0084] Among them, Kp is a preset proportionality coefficient, which can be any fixed coefficient set in advance.

[0085] This embodiment determines the limit value range of the voltage adjustment value of the field weakening module; calculates the reference voltage adjustment value of the field weakening module according to the speed error value and the limit value range. In this way, the reference voltage adjustment value of the field weakening module is limited by limiting the limit value range, so that the permanent magnet synchronous motor can operate normally.

[0086] In addition, an embodiment of the present invention also proposes a storage medium, on which a permanent magnet synchronous motor control program is stored. When the permanent magnet synchronous motor control program is executed by a processor, the steps of the permanent magnet synchronous motor control method described above are implemented.

[0087] Since this storage medium adopts all the technical solutions of the above-mentioned all embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, and will not be elaborated here one by one.

[0088] Refer to Figure 5 , Figure 5 which is the structural block diagram of the first embodiment of the permanent magnet synchronous motor control device of the present invention.

[0089] As Figure 5 shown, the permanent magnet synchronous motor control device proposed by the embodiment of the present invention includes:

[0090] A speed calculation module 10, configured to determine a speed error value according to the electrical angular velocity and the command speed of the permanent magnet synchronous motor.

[0091] In this embodiment, the execution subject of this embodiment may be the permanent magnet synchronous motor, which has functions such as data processing, data communication, and program operation. The permanent magnet synchronous motor can be a permanent magnet synchronous motor in any form or model. Of course, it can also be other devices with similar functions, and this embodiment does not limit this. For the convenience of description, this embodiment is described by taking the permanent magnet synchronous motor as an example.

[0092] It should be noted that permanent magnet synchronous motors have been widely used due to their advantages such as high power density, high power factor, and high operating efficiency. However, limited by the output capacity of the inverter, field weakening control must be adopted to achieve high-speed operation of the permanent magnet synchronous motor above the base speed. Currently, field weakening control mainly includes feedforward field weakening control, feedback field weakening control, and hybrid field weakening control, etc. Among them, voltage feedback field weakening control has been widely concerned by scholars and the industrial community for its strong robustness. The voltage feedback field weakening control method uses the given voltage or the voltage after pulse width modulation as the feedback quantity. Through closed-loop control, the output voltage of the inverter is controlled below the limit value, and the output of the PI regulator is used as the correction quantity of the d-axis current reference, increasing id in the reverse direction and reducing the stator magnetic flux to achieve high-speed operation of the motor. In order to improve the field weakening performance of the motor, generally, the method of increasing the voltage limit value is adopted to improve the utilization rate of the DC bus voltage of the inverter. High voltage utilization rate can improve the efficiency of the motor control system, but it will reduce the dynamic anti-disturbance performance of the motor control system and even cause overcurrent alarm faults. Therefore, solving the problem of the decline in the dynamic anti-disturbance performance of the motor control system under high voltage utilization rate and improving the stability and reliability of the motor control system have important engineering practical significance. Through the solution of this embodiment, the reference voltage of the field weakening module of the permanent magnet synchronous motor can be accurately adjusted, which can solve the problem of the decline in the dynamic anti-disturbance performance of the motor control system under high voltage utilization rate, and can obtain better dynamic performance and anti-disturbance performance during the motor speed regulation process and take into account the control efficiency of the motor.

[0093] It should be understood that a permanent magnet synchronous motor refers to a motor that provides excitation with permanent magnets. Adopting this structure eliminates the slip rings and brushes, making it simpler. At the same time, it also reduces the manufacturing cost and improves the reliability of the motor operation. Also, because there is no need for excitation current and there is no excitation loss, the efficiency and power density of the motor are improved. The field weakening module is a module composed of the rotor in the permanent magnet synchronous motor. When the rotor of the field weakening module rotates, a back electromotive force is generated, and the back electromotive force will hinder the flow of current. When the motor speed exceeds the base speed, the back electromotive force will become large enough to generate a voltage in the motor that is opposite to the direction of the current, thereby restricting the increase of the current and forming field weakening speed regulation.

[0094] In specific implementation, the solution process of this embodiment is as Figure 3As shown, the maximum voltage limit value of field weakening is calculated before the field weakening control algorithm with electromagnetic feedback, so as to adjust the voltage during the motor speed regulation process and improve the anti-interference performance of the motor.

[0095] It should be noted that first, the electrical angular velocity and the command speed of the permanent magnet synchronous motor are collected, and then the speed error value is calculated by combining the electrical angular velocity and the command speed.

[0096] Furthermore, in order to accurately calculate the speed error value, step S10 further includes collecting the feedback speed of the permanent magnet synchronous motor through a position sensor or a position observer. Among them, the specific acquisition method of the feedback speed can be the speed information directly collected by the position sensor or the position observer. At the same time, the feedback speed can also be obtained through the speed observer algorithm, which is not limited in this embodiment.

[0097] It should be understood that after obtaining the feedback speed, the electrical angular velocity is converted according to the feedback speed, and then combined with the command speed for calculation to determine the speed error value.

[0098] In a specific implementation, the command speed is the speed of the rotor set by the user or limited in the operation command received when the permanent magnet synchronous motor operates normally.

[0099] It should be noted that the obtained electrical angular velocity, that is, the feedback speed Spd_Fdb, is compared with the command speed Spd_Ref to obtain the speed error value Spd_Err.

[0100] Among them,

[0101] Spd_Err = Spd_Ref - Spd_Fdb

[0102] The adjustment calculation module 20 is used to calculate the reference voltage adjustment value of the field weakening module according to the speed error value.

[0103] It should be understood that after determining the speed error value, it is combined with the limit value range of voltage adjustment for calculation to obtain the adjustment value of the reference voltage.

[0104] The field weakening control module 30 is used to determine the reference voltage of the field weakening module according to the reference voltage adjustment value of the field weakening module, and perform field weakening control of the permanent magnet synchronous motor according to the reference voltage of the field weakening module.

[0105] In a specific implementation, in order to determine the reference voltage of the field weakening module, the reference voltage adjustment value of the field weakening module is further processed, combined with the maximum value of the field weakening reference voltage for calculation, to obtain the reference voltage of the field weakening module, and then field weakening control is performed based on the reference voltage of the field weakening module.

[0106] Further, in order to obtain better dynamic performance and anti-disturbance performance during the motor speed regulation process and take into account the control efficiency of the motor, first, the reference voltage adjustment value of the field weakening module and the maximum value of the field weakening reference voltage are combined for calculation to obtain the reference voltage of the field weakening module. Specifically, the calculated reference voltage adjustment value VFlux_Adj of the field weakening module is compared with the maximum value of the field weakening reference voltage VFlux_Max to obtain the reference voltage VFlux_Ref of the field weakening module.

[0107] VFlux_Ref = VFlux_Max + VFlux_Adj

[0108] It should be understood that after calculating the reference voltage of the field weakening module, the permanent magnet synchronous motor is configured based on the reference voltage of the field weakening module, so as to perform adaptive field weakening control.

[0109] Further, in order to accurately perform field weakening control, first, the reference voltage of the field weakening module is updated to the field weakening module, so as to realize the field weakening control of the entire permanent magnet synchronous motor through the field weakening module.

[0110] In this embodiment, the speed error value is determined according to the electrical angular velocity and the command speed of the permanent magnet synchronous motor; the reference voltage adjustment value of the field weakening module is calculated according to the speed error value; the reference voltage of the field weakening module is determined according to the reference voltage adjustment value of the field weakening module, and the field weakening control of the permanent magnet synchronous motor is performed according to the reference voltage of the field weakening module. In this way, the accurate adjustment of the reference voltage of the field weakening module of the permanent magnet synchronous motor is realized, the problem of the decline of the dynamic anti-disturbance performance of the motor control system under high voltage utilization rate can be solved, and better dynamic performance and anti-disturbance performance can be obtained during the motor speed regulation process and the control efficiency of the motor can be taken into account.

[0111] In one embodiment, the speed calculation module 10 is further configured to obtain the feedback speed of the permanent magnet synchronous motor through a position sensor or a position observer; determine the electrical angular velocity according to the feedback speed; and determine the speed error value according to the electrical angular velocity and the command speed.

[0112] In one embodiment, the adjustment calculation module 20 is further configured to determine the limit value range of the voltage adjustment value of the field weakening module; and calculate the reference voltage adjustment value of the field weakening module according to the speed error value and the limit value range.

[0113] In one embodiment, the adjustment calculation module 20 is further configured to obtain a preset maximum limit value and a maximum field weakening reference voltage; determine the minimum limit value according to the maximum field weakening reference voltage; and determine the limit value range according to the preset maximum limit value and the minimum limit value.

[0114] In one embodiment, the adjustment calculation module 20 is further configured to obtain a preset proportionality coefficient; calculate an initial voltage adjustment value of the field weakening module according to the speed error value and the preset proportionality coefficient; and determine a reference voltage adjustment value of the field weakening module according to the limit value range and the initial voltage adjustment value.

[0115] In one embodiment, the field weakening control module 30 is further configured to calculate a reference voltage of the field weakening module according to the reference voltage adjustment value of the field weakening module and the maximum value of the field weakening reference voltage; and perform field weakening control of the permanent magnet synchronous motor according to the reference voltage of the field weakening module.

[0116] In one embodiment, the field weakening control module 30 is further configured to update the reference voltage of the field weakening module to the field weakening module; and perform field weakening control of the permanent magnet synchronous motor through the updated field weakening module.

[0117] It should be understood that the above is only an example for illustration and does not constitute any limitation to the technical solution of the present invention. In specific applications, those skilled in the art can set according to needs, and the present invention does not limit this.

[0118] It should be noted that the above-described work process is only illustrative and does not limit the protection scope of the present invention. In actual applications, those skilled in the art can select some or all of them according to actual needs to achieve the purpose of the solution of this embodiment, and there is no limitation here.

[0119] In addition, for the technical details not described in detail in this embodiment, reference can be made to the permanent magnet synchronous motor control method provided in any embodiment of the present invention, which will not be elaborated here.

[0120] In addition, it should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or system including the element.

[0121] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments.

[0122] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as a read-only memory (ROM) / RAM, magnetic disk, optical disk), and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0123] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A permanent magnet synchronous motor control method, characterized in that, The permanent magnet synchronous motor control method includes: Determining a speed error value based on the electrical angular velocity and the commanded speed of the permanent magnet synchronous motor; Calculating a reference voltage adjustment value of the field weakening module according to the speed error value; Determining a reference voltage of the field weakening module according to the reference voltage adjustment value of the field weakening module, and performing field weakening control of the permanent magnet synchronous motor according to the reference voltage of the field weakening module.

2. The permanent magnet synchronous motor control method according to claim 1, characterized in that, The determining a speed error value based on the electrical angular velocity and the commanded speed of the permanent magnet synchronous motor includes: Obtaining the feedback speed of the permanent magnet synchronous motor through a position sensor or a position observer; Determining the electrical angular velocity according to the feedback speed; Determining a speed error value according to the electrical angular velocity and the commanded speed.

3. The permanent magnet synchronous motor control method according to claim 1, wherein The calculating a reference voltage adjustment value of the field weakening module according to the speed error value includes: Determining the limit value range of the voltage adjustment value of the field weakening module; Calculating a reference voltage adjustment value of the field weakening module according to the speed error value and the limit value range.

4. The permanent magnet synchronous motor control method according to claim 3, characterized in that The determining the limit value range of the voltage adjustment value of the field weakening module includes: Obtaining a preset maximum limit value and a maximum field weakening reference voltage; Determining a minimum limit value according to the maximum field weakening reference voltage; Determining the limit value range according to the preset maximum limit value and the minimum limit value.

5. The permanent magnet synchronous motor control method according to claim 3, characterized in that The calculating a reference voltage adjustment value of the field weakening module according to the speed error value and the limit value range includes: Obtaining a preset proportional coefficient; Calculating an initial voltage adjustment value of the field weakening module according to the speed error value and the preset proportional coefficient; Determining the reference voltage adjustment value of the field weakening module according to the limit value range and the initial voltage adjustment value.

6. The permanent magnet synchronous motor control method according to claim 1, wherein The determining a reference voltage of the field weakening module according to the reference voltage adjustment value of the field weakening module, and performing field weakening control of the permanent magnet synchronous motor according to the reference voltage of the field weakening module includes: Calculating a reference voltage of the field weakening module according to the reference voltage adjustment value of the field weakening module and the maximum value of the field weakening reference voltage; Performing field weakening control of the permanent magnet synchronous motor according to the reference voltage of the field weakening module.

7. The permanent magnet synchronous motor control method according to claim 6, characterized in that The performing field weakening control of the permanent magnet synchronous motor according to the reference voltage of the field weakening module includes: Updating the reference voltage of the field weakening module to the field weakening module; Performing field weakening control of the permanent magnet synchronous motor through the updated field weakening module.

8. A permanent magnet synchronous motor control device, characterized in that, The permanent magnet synchronous motor control device includes: A speed calculation module for determining a speed error value based on the electrical angular velocity and the commanded speed of the permanent magnet synchronous motor; An adjustment calculation module for calculating a reference voltage adjustment value of the field weakening module according to the speed error value; A field weakening control module for determining a reference voltage of the field weakening module according to the reference voltage adjustment value of the field weakening module, and performing field weakening control of the permanent magnet synchronous motor according to the reference voltage of the field weakening module.

9. A permanent magnet synchronous motor, characterized in that, The permanent magnet synchronous motor includes: a memory, a processor, and a permanent magnet synchronous motor control program stored on the memory and running on the processor, and the permanent magnet synchronous motor control program is configured to implement the permanent magnet synchronous motor control method according to any one of claims 1 to 7.

10. A storage medium, characterized in that, The permanent magnet synchronous motor control program is stored on the storage medium, and when the permanent magnet synchronous motor control program is executed by a processor, it implements the permanent magnet synchronous motor control method according to any one of claims 1 to 7.

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