Performance control method of permanent magnet synchronous motor and related equipment

Abstract

The invention relates to the technical field of permanent magnet synchronous motor control, in particular to a permanent magnet synchronous motor performance control method and related equipment, and the method comprises the steps: constructing a permanent magnet synchronous motor driving system model into three associated subsystems, a q-axis current reference value is generated through a sliding mode proportional-integral (PI-SMC) controller, and rotating speed outer ring robust control is achieved; the second subsystem adopts a PI-SMC controller to carry out closed-loop control on d-axis current and outputs a d-axis voltage reference value; and the third subsystem performs closed-loop control on the q-axis current by using the PI-SMC controller and outputs a q-axis voltage reference value. And the d / q-axis voltage is subjected to Park inverse transformation and a space vector pulse width modulation algorithm to generate an IGBT switching pulse signal, and finally the motor is driven to operate. According to the model, the anti-interference performance of the system is improved through a layered sliding mode control strategy, and high-precision torque and rotating speed control is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of permanent magnet synchronous motor control, and in particular to a permanent magnet synchronous motor performance control method and related equipment. Background Art

[0002] Permanent magnet synchronous motors (PMSMs) are widely used in a variety of fields, including industrial automation, electric vehicles, and aerospace, thanks to their high power density, high efficiency, and excellent dynamic performance. The performance of the drive control system directly determines the performance of the PMSM. Therefore, improving the performance of PMSM drive control systems has long been a research priority in this field.

[0003] In actual operation, permanent magnet synchronous motor drive control systems face numerous challenges. Load perturbations are inevitable. For example, during electric vehicle operation, road surface irregularities, vehicle acceleration and deceleration, and other factors can cause sudden changes in load torque. In industrial automation production lines, sudden increases or decreases in mechanical load can also impact the motor system. Furthermore, motor parameters inherently exhibit uncertainty. Due to variations in motor manufacturing processes, temperature fluctuations during operation, and magnetic saturation effects, parameters such as motor resistance and inductance can deviate from their nominal values. These load perturbations and parameter uncertainties can severely impact the stability and dynamic performance of the control system, leading to problems such as motor speed fluctuations and current loss of control, reducing the overall system's operational efficiency and reliability.

[0004] To address these challenges, numerous scholars and engineers have conducted in-depth research on permanent magnet synchronous motor drive control methods. Traditional proportional-integral (PI) control methods have been widely used in permanent magnet synchronous motor control due to their simple structure and ease of implementation. However, PI control methods have poor adaptability to system parameter variations and load perturbations. When the system faces significant parameter uncertainty and load perturbations, its control effectiveness deteriorates significantly, making it difficult to meet the high-precision, high-performance control requirements. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to address the deficiencies in the above-mentioned prior art and provide a permanent magnet synchronous motor performance control method and related equipment to solve the technical problem of the robustness of the permanent magnet synchronous motor drive control system under load perturbations and parameter uncertainties.

[0006] The purpose of the present invention is achieved by the following technical solutions: In a first aspect, the present invention provides a method for controlling the performance of a permanent magnet synchronous motor, comprising: Constructing a permanent magnet synchronous motor drive system model, dividing the drive system model into a first subsystem model, a second subsystem model, and a third subsystem model that are interrelated; The first subsystem model is used to obtain a q-axis current reference value; the first system model is used to estimate the unknown load torque of the speed outer loop according to the torque estimation algorithm, and then control the first sliding film proportional integral controller according to the load torque estimation result to obtain the q-axis current reference value; According to the q-axis current reference value, a second sliding film proportional integral controller in the second subsystem model is used to perform control to obtain a d-axis voltage reference value; According to the d-axis voltage reference value, a third synovial proportional-integral controller in the third subsystem model is used for control to obtain a q-axis voltage reference value; After the coordinate axis conversion is performed on the obtained d-axis voltage reference value and q-axis voltage reference value, the switching pulse signal for controlling the IGBT is obtained through the space vector pulse width modulation algorithm, thereby controlling the permanent magnet synchronous motor.

[0007] As a further improvement of the present invention, the first subsystem model is:

[0008] Where, is the q-axis current reference value, i.e., the control variable of the first subsystem model; J is the moment of inertia, ω is the rotor speed, is the estimated value of the load torque, is the speed uncertainty of the first subsystem model, which is obtained according to the load torque uncertainty, and b is the friction coefficient of the drive system model.

[0009] As a further improvement of the present invention, the control rate of the first synovial proportional-integral controller is:

[0010] in, is the q-axis current reference value, is the speed reference value, is the first PI controller parameter of the first subsystem model, are the second PI controller parameters of the first subsystem model, is the synovial surface of the first subsystem model, D ω is the range of speed disturbance, is the sliding mode control gain of the first subsystem model, b is the friction coefficient of the driving system, is the torque constant, is the moment of inertia, is the estimated value of the load torque.

[0011] As a further improvement of the present invention, estimating the unknown load torque of the speed outer loop according to the torque estimation algorithm includes: Obtain load torque data and electromagnetic torque data of the permanent magnet synchronous motor; According to the load torque data and electromagnetic torque data, the rotor speed is estimated using the PMSM drive system dynamics algorithm to obtain the speed estimation value; The unknown load torque is estimated using a PI estimator according to the estimated speed value to obtain an estimated load torque value.

[0012] As a further improvement of the present invention, the second subsystem model is:

[0013] Where, is the d-axis current input, is the resistance of the stator winding, is the d-axis equivalent inductance, is the coupling term between the q-axis current and the rotor speed, is the voltage reference value of the d-axis, is the speed uncertainty of the second subsystem model, is the rotor speed, is the q-axis current input.

[0014] As a further improvement of the present invention, the control rate of the second synovial proportional-integral controller is:

[0015] Where, is the voltage reference value of the d-axis, is the d-axis equivalent inductance, is the d-axis current reference value, are the first PI controller parameters of the second subsystem model, are the second PI controller parameters of the second subsystem model, is the resistance of the stator winding, is the dq axis coupling term, is the range of d-axis current disturbance, is the synovial surface of the second subsystem model, is the sliding mode control gain of the second subsystem model.

[0016] As a further improvement of the present invention, the third subsystem model is:

[0017] Where, is the q-axis current input, is the q-axis equivalent inductance, is the coupling term of the q axis, is the q-axis voltage reference value, is the speed uncertainty of the second subsystem model.

[0018] As a further improvement of the present invention, the control rate of the third synovial proportional-integral controller is:

[0019] Where, is the q-axis voltage reference value, is the q-axis equivalent inductance, is the q-axis current reference value, is the first PI controller parameter of the third subsystem model, are the second PI controller parameters of the third subsystem model, is the resistance of the stator winding, is the dq axis coupling term, is the range of q-axis current disturbance, is the synovial surface of the third subsystem model, is the sliding mode control gain of the third subsystem model.

[0020] In a second aspect, the present invention provides a permanent magnet synchronous motor performance control system for implementing the above-mentioned permanent magnet synchronous motor performance control method, comprising: a permanent magnet synchronous motor drive system model and a control signal generation module; The permanent magnet synchronous motor drive system model includes a first subsystem model, a second subsystem model and a third subsystem model that are interrelated; The first system model is used to estimate the unknown load torque of the speed outer loop according to the torque estimation algorithm, and then use the first sliding film proportional integral controller to perform control according to the load torque estimation result to obtain the q-axis current reference value; The second synovial proportional-integral controller in the second subsystem model controls to obtain a d-axis voltage reference value; The third synovial proportional-integral controller in the third subsystem model controls to obtain a q-axis voltage reference value; The control signal generation module is used to convert the obtained d-axis voltage reference value and q-axis voltage reference value into coordinate axes, and then obtain the switching pulse signal for controlling the IGBT through the space vector pulse width modulation algorithm, thereby controlling the permanent magnet synchronous motor.

[0021] In a third aspect, the present invention provides a computer-readable storage medium storing one or more programs, wherein the one or more programs include instructions that, when executed by a computing device, enable the computing device to execute the above-mentioned permanent magnet synchronous motor performance control method.

[0022] In a fourth aspect, the present invention provides a computing device, comprising: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include steps for executing the above-mentioned permanent magnet synchronous motor performance control method.

[0023] The beneficial effects of the present invention are as follows: It provides a method for controlling the performance of a permanent magnet synchronous motor, dividing the control process into three parts. The first subsystem model uses real-time load torque estimation to compensate for unknown disturbances, thereby avoiding torque fluctuations caused by parameter mismatch in traditional PI control. The introduction of a PI-SMC controller into the control system enhances the system's robustness to changes in motor parameters (such as stator resistance and inductor temperature drift) and improves dynamic torque response speed. The inner current loop (i.e., the second and third subsystem models) uses a sliding-mode PI controller, which achieves faster current tracking and shortens motor acceleration and deceleration times compared to traditional PI controllers. The SVPWM algorithm optimizes voltage vector synthesis, reducing switching losses while improving voltage utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 It is a control structure diagram of the PMSM drive system in the present invention.

[0026] Figure 2 This is a block diagram of the torque estimation algorithm in subsystem 1 of the present invention.

[0027] Figure 3 It is a block diagram of a traditional control system.

[0028] Figure 4 It is a torque fluctuation estimation curve diagram in the present invention.

[0029] Figure 5 It is the motor speed control diagram in the present invention.

[0030] Figure 6 It is the d-axis current control curve in the present invention.

[0031] Figure 7 It is a structural schematic diagram of the electronic device in the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose and technical solution of the present invention clearer and easier to understand, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. The specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0033] The technical solutions of the present invention will be described clearly and completely below with reference to the accompanying drawings and specific embodiments. The described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0034] Example 1 like Figures 1 to 2 As shown, this embodiment provides a permanent magnet synchronous motor performance control method, which mainly uses SMC (sliding mode control) theory to solve some problems existing in the permanent magnet synchronous motor drive system. In the design of the sliding mode controller, we add uncertainty parameters in each link and use sliding mode control to eliminate the system instability caused by parameter uncertainty and perturbation, thereby improving the robustness and dynamic performance of the control system.

[0035] Therefore, this embodiment considers dividing the permanent magnet synchronous motor drive system model of the unmodeled PWM converter dynamics into three interrelated subsystems, including: a first subsystem model, a second subsystem model, and a third subsystem model. The first subsystem model designs an adaptive PI estimator in the load torque estimation part of the speed outer loop to estimate the unknown load torque, and establishes a first PI-SMC (Proportional-Integral Sliding Mode Control) controller (i.e. Figure 1 The PI-SMC controller 1) is used to obtain the reference value of the Q-axis current by taking into account the error of the load torque. The second subsystem model and the third subsystem model respectively use PI-SMC (sliding mode proportional integral control) controllers for the d-axis and q-axis currents in the current inner loop (i.e. Figure 1 PI-SMC controller 2 and PI-SMC controller 3 in the circuit obtain the reference values ​​of voltage Ud and Uq 、 After the SVPWM (space vector pulse width modulation) algorithm, the switching pulse signal for controlling the IGBT is obtained, which in turn controls the operation of the permanent magnet synchronous motor. The following is a specific implementation method.

[0036] Construct a permanent magnet synchronous motor drive system model, such as Figure 1 As shown. The permanent magnet synchronous motor drive system model is divided into the first subsystem model (i.e., subsystem 1 in Figure 1), the second subsystem model ( Figure 1 Subsystem 2 in the ) and the third subsystem model ( Figure 1Subsystem 3 in ).

[0037] In this embodiment, the first subsystem model is:

[0038] Where, is the q-axis current reference value, i.e., the control variable of the first subsystem model; J is the moment of inertia, ω is the rotor speed, is the estimated value of the load torque, is the speed uncertainty of the first subsystem model, which is obtained based on the load torque uncertainty. b is the friction coefficient of the permanent magnet synchronous motor drive system model.

[0039] The second subsystem model is:

[0040] Where, is the d-axis current input, is the resistance of the stator winding, is the d-axis equivalent inductance, is the d-axis control coupling term, is the voltage reference value of the d-axis, is the speed uncertainty of the second subsystem model, is the rotor speed, is the q-axis current input, that is, the actual current q-axis component.

[0041] In addition, the d-axis control coupling term for:

[0042] Where, is the d-axis equivalent inductance, is the q-axis equivalent inductance, is the q-axis current input.

[0043] The third subsystem model is:

[0044] Where, is the q-axis current input, is the q-axis equivalent inductance, is the q-axis control coupling term, is the q-axis voltage reference value, is the speed uncertainty of the second subsystem model.

[0045] Among them, the q-axis control coupling term for:

[0046] Where, is the q-axis equivalent inductance, is the d-axis equivalent inductance, is the rotor flux.

[0047] The first subsystem model is used to obtain a q-axis current reference value. The first system model is used to estimate the unknown load torque of the speed outer loop according to the torque estimation algorithm, and then control the first sliding film proportional integral controller based on the load torque estimation result to obtain the q-axis current reference value.

[0048] Specifically, estimating the unknown load torque of the speed outer loop according to the torque estimation algorithm includes: acquiring load torque data and electromagnetic torque data of the permanent magnet synchronous motor; Based on the load torque data and electromagnetic torque data, the rotor speed is estimated using the PMSM drive system dynamics algorithm to obtain a speed estimate. The PMSM drive system dynamics algorithm is:

[0049] Where J is the moment of inertia, ω is the rotor speed, Te is the electromagnetic torque, and T L is the load torque, and b is the friction coefficient of the drive system.

[0050] According to the speed estimation value, the unknown load torque is estimated using the torque estimation algorithm of the PI estimator to obtain the load torque estimation value.

[0051] Specifically, the torque estimation algorithm includes:

[0052]

[0053] Where K P_L >0, K I_L >0 are the proportional integral parameters of the PI controller, is the estimated value of the rotational speed, is the estimated value of the load torque.

[0054] Then, this embodiment determines the load torque uncertainty based on the load torque estimate:

[0055]

[0056] Where, is the estimated value of the speed, s is the Laplace operator, εL is the uncertainty of the load torque, is the estimated value of the load torque, is the load torque, and b is the friction coefficient of the permanent magnet synchronous motor drive system model.

[0057] In order to improve robustness, this embodiment introduces uncertainty factors into each subsystem model. ε .

[0058] Speed ​​uncertainty of the first subsystem model satisfy:

[0059] Where a is the torque constant, which is equal to 1.5 n p ψ f ,in, n p is the number of pole pairs of the permanent magnet synchronous motor, ψ f is the rotor flux, is the load torque uncertainty, is the actual current q component obtained.

[0060] The control rate of the first sliding film proportional integral controller is:

[0061] in, is the q-axis current reference value, is the speed reference value, is the first PI controller parameter of the first subsystem model, are the second PI controller parameters of the first subsystem model, is the synovial surface of the first subsystem model, D ω is the range of speed disturbance, is the sliding mode control gain of the first subsystem model, b is the friction coefficient of the driving system, is the torque constant, is the moment of inertia, is the estimated value of the load torque, is the sign function. The range of speed disturbance D ω satisfy .

[0062] In this embodiment, the synovial surface of the first subsystem model for:

[0063] Where, is the speed reference value, is the first PI controller parameter of the first subsystem model, are the second PI controller parameters of the first subsystem model, satisfying:K P_ω >0, K I_ω >0.

[0064] Sliding mode control gain of the first subsystem model for:

[0065] and satisfy:

[0066] Where, is the speed reference value, are the second PI controller parameters of the first subsystem model, is the speed reference value, D ω is the range of speed disturbance, is the sliding mode control gain of the first subsystem model, b is the friction coefficient of the driving system, is the torque constant, is the moment of inertia, is the estimated value of the load torque.

[0067] The q-axis current reference value is obtained according to the second subsystem model. The d-axis voltage reference value is obtained by controlling the second synotropic proportional integral controller (PI-SMC controller 2) in the second subsystem model. .

[0068] Specifically, the control rate of the second sliding film proportional integral controller is:

[0069] Where, is the voltage reference value of the d-axis, is the d-axis equivalent inductance, is the d-axis current reference value, are the first PI controller parameters of the second subsystem model, are the second PI controller parameters of the second subsystem model, is the resistance of the stator winding, is the dq axis coupling term, is the range of d-axis current disturbance, is the synovial surface of the second subsystem model, is the sliding mode control gain of the second subsystem model.

[0070] In this embodiment, the synovial surface of the second subsystem model for:

[0071] in, yes d Shaft current reference value, and meet = 0. The first PI controller parameters and the second PI controller parameters of the second subsystem model satisfy: K P_d >0, K I_d >0.

[0072] The range of d-axis current disturbance satisfies: .

[0073] Sliding mode control gain of the second subsystem model for:

[0074] in, satisfy:

[0075] Where, is the voltage reference value of the d-axis, is the d-axis equivalent inductance, is the d-axis current reference value, are the first PI controller parameters of the second subsystem model, are the second PI controller parameters of the second subsystem model, is the resistance of the stator winding, is the dq axis coupling term, is the range of d-axis current disturbance, is the synovial surface of the second subsystem model.

[0076] According to the d-axis voltage reference value, the third synovial proportional-integral controller in the third subsystem model is used to perform control to obtain the q-axis voltage reference value; The control rate of the third sliding film proportional integral controller is:

[0077] Where, is the q-axis voltage reference value, is the q-axis equivalent inductance, is the q-axis current reference value, is the first PI controller parameter of the third subsystem model, are the second PI controller parameters of the third subsystem model, is the resistance of the stator winding, is the dq axis coupling term, is the range of q-axis current disturbance, is the synovial surface of the third subsystem model, is the sliding mode control gain of the third subsystem model. The first PI controller parameters and the second PI controller parameters of the third subsystem model satisfy K P_q >0, K I_q >0. The range of q-axis current disturbance satisfies: .

[0078] Synovial surface of the third subsystem model for:

[0079] Where, is the q-axis current reference value, Sliding mode control gain of the third subsystem model for:

[0080] Among them, the synovial surface of the third subsystem model The symbolic function satisfies:

[0081] In addition, the synovial surfaces of the first subsystem model, the synovial surfaces of the second subsystem model, and the synovial surfaces of the third subsystem model in this embodiment are selected as follows:

[0082] Where, is the synovial surface of the subsystem model.

[0083] After the coordinate axis conversion is performed on the obtained d-axis voltage reference value and q-axis voltage reference value, the switching pulse signal for controlling the IGBT is obtained through the space vector pulse width modulation algorithm, thereby controlling the permanent magnet synchronous motor.

[0084] In this embodiment, the d-axis voltage reference value output by the second PI controller and the q-axis voltage reference value output by the third PI controller are subjected to an inverse Park transform to output three-phase control voltage values. These three-phase control voltage values ​​are then processed using a space vector pulse width modulation algorithm to generate switching pulse signals for controlling the IGBTs. These switching pulse signals control the IGBTs, thereby driving the permanent magnet synchronous motor.

[0085] The control method provided above is further explained below with reference to an application example. Table 1 provides the PMSM parameters of a permanent magnet synchronous motor. The control method steps in this embodiment are used to build a PMSM drive system program on a Matlab / Simulink platform.

[0086] Table 1 PMSM parameters

[0087] In this experiment, the rotor reference speed is kept at 200 r / min. The actual load torque increases from 0 N·m to 2×10 4 N·m, from 2×10 4 N·m decreased to 10 4 N·m. The changes in actual load torque (black) and estimated load torque (blue) are shown in Figure 4 The results show that the adaptive PI estimator proposed in this patent can accurately and effectively estimate the load torque.

[0088] Motor speed control diagram as shown Figure 5 As shown, when the load torque fluctuates, the motor speed has overshoot and large fluctuation problems in the traditional control (blue part in Figure 5). The method of this embodiment ( Figure 5 The red part in the middle) can effectively reduce the impact of fluctuations on the system speed.

[0089] according to Figure 6 As shown in the d-axis current fluctuation diagram, the red color represents the d-axis current fluctuation generated by the present method, and the blue color represents the d-axis current fluctuation generated by the conventional control method. The control method proposed in this embodiment can effectively control the d-axis current pulsation of the motor.

[0090] The control method of this embodiment offers the following advantages: The torque estimation algorithm in the first subsystem model enables highly accurate estimation of the permanent magnet synchronous motor's load torque, enabling timely and accurate adjustment of the q-axis current to accommodate load changes during the control process, thereby achieving precise control of the motor torque. The use of a sliding film proportional-integral controller within each subsystem enables the entire drive system to rapidly respond and adjust its control strategy to dynamic operating conditions such as sudden load changes and speed command changes, ensuring stable motor operation and significantly improving the system's dynamic performance and stability.

[0091] Each subsystem model utilizes synovial proportional-integral control, effectively suppressing various system disturbances (such as load disturbances and motor parameter changes). This synovial control ensures system stability under disturbances, enabling the entire drive system to maintain relatively stable performance in complex real-world operating environments. This reduces the likelihood of system failure due to external disturbances and improves system reliability and robustness.

[0092] Example 2 This embodiment provides a permanent magnet synchronous motor performance control system for implementing the permanent magnet synchronous motor performance control method in Example 1. The system includes: a permanent magnet synchronous motor drive system model and a control signal generation module; The permanent magnet synchronous motor drive system model includes a first subsystem model, a second subsystem model and a third subsystem model that are interrelated; The first system model is used to estimate the unknown load torque of the speed outer loop according to the torque estimation algorithm, and then use the first sliding film proportional integral controller to control according to the load torque estimation result to obtain the q-axis current reference value; The second synovial proportional integral controller in the second subsystem model is controlled to obtain a d-axis voltage reference value; The third synovial proportional integral controller in the third subsystem model is controlled to obtain a q-axis voltage reference value; The control signal generation module is used to convert the obtained d-axis voltage reference value and q-axis voltage reference value into coordinate axes, and then obtain the switching pulse signal for controlling the IGBT through the space vector pulse width modulation algorithm, thereby controlling the permanent magnet synchronous motor.

[0093] Example 3 In another embodiment of the present invention, a computer-readable storage medium is provided as a storage component within a terminal device, whose primary function is to store programs and data. It should be noted that the computer-readable storage medium herein encompasses not only the terminal device's built-in storage component but also any supported expansion storage components. Essentially, it is a tangible medium capable of containing or storing programs that can be accessed by, or run in conjunction with, an instruction execution system, device, or component.

[0094] The storage medium provides a storage area for the terminal's operating system and stores one or more instructions suitable for the processor to load and execute. These instructions can constitute one or more computer programs containing program codes.

[0095] In particular, examples (a non-exclusive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable magnetic disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any reasonable combination of the foregoing.

[0096] The storage medium may also include a data signal transmitted as part of a baseband portion or carrier wave, which carries readable program code. Such a transmitted data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any reasonable combination of the two. In addition, computer-readable storage media may also refer to other readable media other than traditional readable storage media, which are capable of sending, transmitting, or transmitting programs for use by or in conjunction with an instruction execution system, device, or component. The program code on the storage medium may be transmitted via any suitable medium, including but not limited to wireless, wired, optical cable, or any reasonable combination thereof.

[0097] The program code used to implement the operations of the present invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as "C." The program code can be executed entirely on the user's computing device, partially on the user's device as a standalone software package, partially distributed across the user's device and a remote computing device, or entirely on a remote computing or device server. When a remote computing device is involved, the device can be connected to the user's computing device via any type of network, such as a local area network (LAN) or wide area network (WAN), or connected to an external computing device via the Internet through an Internet service provider (ISP).

[0098] The processor is capable of loading and executing one or more instructions stored in a computer-readable storage medium to implement corresponding steps of the permanent magnet synchronous motor performance control method described in Example 1.

[0099] Example 4 Reference Figure 7 Another embodiment of the present invention provides a terminal device, which is specifically a computer device 60. This computer device 60 is mainly composed of three parts, namely a processor 61, a memory 62, and a computer program 63 stored in the memory 62 and capable of running on the processor 61. Among them, the processor 61 is responsible for executing the computer program to implement the permanent magnet synchronous motor performance control method described in Example 1. The memory 62 is used to store the computer program and other programs and data required for the operation of the device. When the computer program 63 runs on the processor 61, it can implement the permanent magnet synchronous motor performance control method. To avoid repetition, the relevant details will not be described in detail here.

[0100] The computer device 60 has many different forms. It can be a desktop computer, a notebook computer, a handheld computer, or a computing device such as a cloud server.

[0101] The processor 60 may be a central processing unit, or other types of general-purpose processors, central processing units, graphics processing units, digital signal processors, application-specific integrated circuits, field programmable gate arrays, or other programmable logic devices, discrete gate or transistor logic devices, quantum computing-based data processing logic, discrete hardware components, etc. The general-purpose processor referred to herein refers to a microprocessor or any conventional processor.

[0102] Memory 62 can be an internal storage unit of computer device 60, such as its hard drive or memory, or an external storage device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or flash memory card. Memory 62 not only stores computer programs but also other programs and data required for device operation, and temporarily stores data that has been or is about to be output.

[0103] In the various embodiments provided herein, references to memory, databases, or other media will encompass at least one of non-volatile memory and volatile memory. There are many types of non-volatile memory, including read-only memory, magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory, magnetic random access memory, ferroelectric memory, phase change memory, graphene memory, and the like. Volatile memory may include random access memory (RAM) or external cache memory. It should be noted that RAM has various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

Claims

1. A permanent magnet synchronous motor performance control method, characterized in that: include: Constructing a permanent magnet synchronous motor drive system model, dividing the drive system model into a first subsystem model, a second subsystem model, and a third subsystem model that are interrelated; The first subsystem model is used to obtain a q-axis current reference value; the first system model is used to estimate the unknown load torque of the speed outer loop according to the torque estimation algorithm, and then control the first sliding film proportional integral controller according to the load torque estimation result to obtain the q-axis current reference value; According to the q-axis current reference value, a second sliding film proportional integral controller in the second subsystem model is used to perform control to obtain a d-axis voltage reference value; According to the d-axis voltage reference value, a third synovial proportional-integral controller in the third subsystem model is used for control to obtain a q-axis voltage reference value; After the coordinate axis conversion is performed on the obtained d-axis voltage reference value and q-axis voltage reference value, the switching pulse signal for controlling the IGBT is obtained through the space vector pulse width modulation algorithm, thereby controlling the permanent magnet synchronous motor.

2. The permanent magnet synchronous motor performance control method according to claim 1, characterized in that: The first subsystem model is: Where, is the q-axis current reference value, i.e., the control variable of the first subsystem model; J is the moment of inertia, ω is the rotor speed, is the estimated value of the load torque, is the speed uncertainty of the first subsystem model, which is obtained according to the load torque uncertainty, and b is the friction coefficient of the drive system model.

3. The permanent magnet synchronous motor performance control method according to claim 2, characterized in that: The control rate of the first sliding film proportional integral controller is: in, is the q-axis current reference value, is the speed reference value, is the first PI controller parameter of the first subsystem model, are the second PI controller parameters of the first subsystem model, is the synovial surface of the first subsystem model, D ω is the range of speed disturbance, is the sliding mode control gain of the first subsystem model, b is the friction coefficient of the driving system, is the torque constant, is the moment of inertia, is the estimated value of the load torque.

4. The permanent magnet synchronous motor performance control method according to claim 2, characterized in that: The unknown load torque of the speed outer loop is estimated according to the torque estimation algorithm, including: Obtain load torque data and electromagnetic torque data of the permanent magnet synchronous motor; According to the load torque data and electromagnetic torque data, the rotor speed is estimated using the PMSM drive system dynamics algorithm to obtain the speed estimation value; The unknown load torque is estimated using a PI estimator according to the estimated speed value to obtain an estimated load torque value.

5. The permanent magnet synchronous motor performance control method according to claim 1, characterized in that: The second subsystem model is: Where, is the d-axis current input, is the resistance of the stator winding, is the d-axis equivalent inductance, is the coupling term between the q-axis current and the rotor speed, is the voltage reference value of the d-axis, is the speed uncertainty of the second subsystem model, is the rotor speed, is the q-axis current input.

6. The permanent magnet synchronous motor performance control method according to claim 5, characterized in that: The control rate of the second sliding film proportional integral controller is: Where, is the voltage reference value of the d-axis, is the d-axis equivalent inductance, is the d-axis current reference value, are the first PI controller parameters of the second subsystem model, are the second PI controller parameters of the second subsystem model, is the resistance of the stator winding, is the d-axis control coupling term, is the range of d-axis current disturbance, is the synovial surface of the second subsystem model, is the sliding mode control gain of the second subsystem model.

7. The permanent magnet synchronous motor performance control method according to claim 1, characterized in that: The third subsystem model is: Where, is the q-axis current input, is the q-axis equivalent inductance, is the coupling term of the q axis, is the q-axis voltage reference value, is the speed uncertainty of the second subsystem model.

8. The permanent magnet synchronous motor performance control method according to claim 7, characterized in that: The control rate of the third sliding film proportional integral controller is: Where, is the q-axis voltage reference value, is the q-axis equivalent inductance, is the q-axis current reference value, is the first PI controller parameter of the third subsystem model, are the second PI controller parameters of the third subsystem model, is the resistance of the stator winding, is the q-axis control coupling term, is the range of q-axis current disturbance, is the synovial surface of the third subsystem model, is the sliding mode control gain of the third subsystem model.

9. A permanent magnet synchronous motor performance control system, used to implement the permanent magnet synchronous motor performance control method according to any one of claims 1 to 8, characterized in that: include: Permanent magnet synchronous motor drive system model and control signal generation module; The permanent magnet synchronous motor drive system model includes a first subsystem model, a second subsystem model and a third subsystem model that are interrelated; The first system model is used to estimate the unknown load torque of the speed outer loop according to the torque estimation algorithm, and then use the first sliding film proportional integral controller to control according to the load torque estimation result to obtain the q-axis current reference value; The second synovial proportional-integral controller in the second subsystem model controls to obtain a d-axis voltage reference value; The third synovial proportional-integral controller in the third subsystem model controls to obtain a q-axis voltage reference value; The control signal generation module is used to convert the obtained d-axis voltage reference value and q-axis voltage reference value into coordinate axes, and then obtain the switching pulse signal for controlling the IGBT through the space vector pulse width modulation algorithm, thereby controlling the permanent magnet synchronous motor.

10. A computing device, characterized in that include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include steps for executing the permanent magnet synchronous motor performance control method according to any one of claims 1 to 8.

Images