Control method of high-speed permanent magnet synchronous motor and related device

Abstract

The invention discloses a control method of a high-speed permanent magnet synchronous motor and a related device, and relates to the field of control, and the method comprises the steps: constructing a stator current equation capable of simulating the behavior of the high-speed permanent magnet synchronous motor based on the position change of a rotor in the same control period, and carrying out the motor parameter fixing and back electromotive force feedforward processing of the stator current equation. And meanwhile, a stator current predicted value at the next moment is obtained by combining the total disturbance parameter of the current loop system, a control input voltage value of the high-speed permanent magnet synchronous motor at the current moment is determined based on the stator current predicted value, and voltage modulation is performed according to the control input voltage value to control the high-speed permanent magnet synchronous motor. The stator current equation is constructed based on the change of the rotor position in the same control period, and deformation processing is performed on the stator current equation by fixing motor parameters and introducing back electromotive force feedforward processing and current loop system total disturbance compensation, so that the computing power demand of a main control chip of the permanent magnet synchronous motor is reduced, and the reliability of the permanent magnet synchronous motor is improved. The method is suitable for controlling the high-speed permanent magnet synchronous motor.

Description

Technical Field

[0001] The present invention relates to the field of control technology, and more particularly to a control method and related devices for a high-speed permanent magnet synchronous motor. Background Art

[0002] Permanent magnet synchronous motors (PMSMs) are increasingly being used in industries such as automotive drives, agricultural machinery, and construction machinery due to their compact structure, low maintenance costs, and excellent vibration and noise characteristics. With the pursuit of ultimate power efficiency, the speed of PMSMs continues to increase, and accordingly, the requirements for control strategies are becoming increasingly stringent. Model predictive control algorithms are increasingly being used in the control of PMSMs due to their fast response speed and high control accuracy. Conventional model predictive control algorithms require complex online quadratic programming, resulting in high computing power requirements for the PMSM main control chip. Furthermore, conventional model predictive control algorithms assume that the rotor position remains unchanged within the same control cycle, making them unsuitable for controlling high-speed PMSMs on conventional chips.

[0003] Therefore, how to provide a control method for a high-speed permanent magnet synchronous motor that can reduce the computing power requirements of the main control chip while being suitable for the control of high-speed permanent magnet synchronous motors has become a technical problem that technical personnel in this field urgently need to solve. Summary of the Invention

[0004] In view of this, the present invention discloses a control method and related devices for a high-speed permanent magnet synchronous motor, so as to realize the control of the high-speed permanent magnet synchronous motor.

[0005] A control method for a high-speed permanent magnet synchronous motor, comprising:

[0006] Based on the rotor position changes within the same control cycle, a stator current equation is constructed to simulate the behavior of a high-speed permanent magnet synchronous motor.

[0007] By fixing the motor parameters and performing back electromotive force feedforward processing on the stator current equation and combining the total disturbance parameters of the current loop system, a predicted value of the stator current at the next moment of the current moment is obtained;

[0008] Determining a control input voltage value of the high-speed permanent magnet synchronous motor at a current moment based on the stator current prediction value;

[0009] Voltage modulation is performed according to the control input voltage value to control the high-speed permanent magnet synchronous motor.

[0010] Optionally, the stator current equation includes: the current matrix at the next moment, the current matrix at the current moment, the current coefficient matrix at the current moment, the control input voltage coefficient matrix at the current moment, the control input voltage matrix at the current moment, the permanent magnet flux at the current moment, and the back electromotive force matrix at the current moment.

[0011] Optionally, performing motor parameter fixing and back electromotive force feedforward processing on the stator current equation includes:

[0012] Fixing the stator direct-axis inductance, the stator quadrature-axis inductance, and the rotor permanent magnet flux in the stator current equation;

[0013] The back electromotive force after the normalization of the motor parameters at the current moment is fed forward.

[0014] Optionally, the process of determining the total disturbance parameter of the current loop system includes:

[0015] The total disturbance parameter of the current loop system is determined based on the current matrix at the current moment, the current matrix at the previous moment, the current coefficient matrix after the motor parameters are normalized at the previous moment, the control input voltage coefficient matrix after the motor parameters are normalized at the previous moment, and the control input voltage matrix at the previous moment.

[0016] Optionally, determining the control input voltage value of the high-speed permanent magnet synchronous motor at a current moment based on the stator current prediction value includes:

[0017] determining a corresponding target stator current sector based on the stator current prediction value;

[0018] The control input voltage value is determined based on the target stator current sector.

[0019] Optionally, determining a corresponding target stator current sector based on the stator current prediction value includes:

[0020] Determining a stator current vector angle at a next moment based on the stator current prediction value;

[0021] From the divided stator current sectors, the stator current sector to which the stator current vector angle at the next moment belongs is determined as the target stator current sector.

[0022] Optionally, determining the control input voltage value based on the target stator current sector includes:

[0023] Determining a control input basic voltage value of the high-speed permanent magnet synchronous motor according to the target stator current sector;

[0024] Determining a control input harmonic compensation voltage value of the high-speed permanent magnet synchronous motor according to the target stator current sector;

[0025] On the basis of the control input basic voltage value, the current loop harmonic voltage is compensated by the control input harmonic compensation voltage value to obtain the control input voltage value.

[0026] A control device for a high-speed permanent magnet synchronous motor, comprising:

[0027] A construction unit for constructing a stator current equation capable of simulating the behavior of a high-speed permanent magnet synchronous motor based on a rotor position change within a same control cycle;

[0028] A current prediction value determination unit is used to obtain a stator current prediction value at the next moment of the current moment by fixing motor parameters and performing back electromotive force feedforward processing on the stator current equation and combining the total disturbance parameters of the current loop system;

[0029] a control input voltage value determining unit, configured to determine a control input voltage value of the high-speed permanent magnet synchronous motor at a current moment based on the stator current prediction value;

[0030] A motor control unit is used to perform voltage modulation according to the control input voltage value to control the high-speed permanent magnet synchronous motor.

[0031] A computer storage medium stores at least one instruction, wherein when the at least one instruction is executed by a processor, any method for controlling a high-speed permanent magnet synchronous motor is implemented.

[0032] A permanent magnet synchronous motor control system, comprising:

[0033] Motor controller and memory;

[0034] The memory is used to store computer programs;

[0035] The motor controller is used to run the computer program to implement any control method of a high-speed permanent magnet synchronous motor.

[0036] From the above technical solutions, it can be seen that the present invention discloses a control method and related devices for a high-speed permanent magnet synchronous motor. Based on the change of the rotor position within the same control cycle, a stator current equation capable of simulating the behavior of a high-speed permanent magnet synchronous motor is constructed. By fixing the motor parameters and performing back electromotive force feedforward processing on the stator current equation, and combining the total disturbance parameters of the current loop system, a stator current prediction value at the next moment of the current moment is obtained. Based on the stator current prediction value, the control input voltage value of the high-speed permanent magnet synchronous motor at the current moment is determined, and voltage modulation is performed according to the control input voltage value to control the high-speed permanent magnet synchronous motor. The present invention constructs a stator current equation capable of simulating the dynamic behavior of a high-speed permanent magnet synchronous motor based on the change of the rotor position within the same control cycle, and deforms the stator current equation by fixing the motor parameters, introducing back electromotive force feedforward processing and current loop system total disturbance compensation, thereby significantly reducing the computational complexity, thereby reducing the computing power requirement of the permanent magnet synchronous motor main control chip, and is therefore suitable for the control of high-speed permanent magnet synchronous motors. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] 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 merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the disclosed drawings without any creative work.

[0038] Figure 1 A schematic diagram of the division of stator current sectors disclosed in an embodiment of the present invention;

[0039] Figure 2 This is a flow chart of a control method for a high-speed permanent magnet synchronous motor disclosed in an embodiment of the present invention;

[0040] Figure 3 This is a schematic structural diagram of a control device for a high-speed permanent magnet synchronous motor disclosed in an embodiment of the present invention;

[0041] Figure 4 The present invention discloses a permanent magnet synchronous motor control system. DETAILED DESCRIPTION

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0043] High-speed permanent magnet synchronous motors (PMSMs) are motors with significantly higher speeds than conventional motors. Their core feature is the use of permanent magnets to create a rotor magnetic field. The rotating magnetic field generated by the stator windings rotates synchronously with the rotor magnetic field, achieving efficient and high-precision energy conversion.

[0044] Conventional model predictive control algorithms require high computing power from the permanent magnet synchronous motor's main control chip. Furthermore, conventional model predictive control algorithms assume that the rotor position does not change within the same control cycle. These two reasons prevent conventional model predictive control algorithms from being directly deployed on conventional chips to achieve effective control of high-speed permanent magnet synchronous motors.

[0045] To solve the above problems, the present invention improves the PMSM stator current equation as follows:

[0046] Generally, the stator current equation of a permanent magnet synchronous motor considering the rotor position change within the same control cycle is as shown in formula (1):

[0047]

[0048] In formula (1), represents the control input voltage matrix at time k, where u d (k) represents the control input voltage of the stator d axis (i.e., the stator direct axis) at time k, u q (k) represents the control input voltage of the stator q-axis (i.e., the stator quadrature axis) at time k;

[0049] represents the current matrix at time k, where i d (k) represents the stator d-axis current at time k, i q (k) represents the stator q-axis current at time k;

[0050] represents the current matrix at time k+1, where i d (k+1) represents the stator d-axis current at time k+1, i q (k+1) represents the stator q-axis current at time k+1;

[0051] represents the rotor flux angular velocity at time k, represents the rotor permanent magnet flux at time k; represents the stator d-axis inductance at time k, represents the stator q-axis inductance at time k; T s Represents the current loop control period; represents the current coefficient matrix at time k; represents the control input voltage coefficient matrix at time k; Represents the back electromotive force matrix at time k.

[0052] The inventors found in the process of research that when the speed of the permanent magnet synchronous motor continues to increase, in the same control cycle T s The angle of rotation of the permanent magnet synchronous motor will be much greater than Therefore, the conventional model predictive control algorithm is not suitable for the control of high-speed permanent magnet synchronous motors because it does not consider the change of rotor position within the same control cycle.

[0053] Considering the stator d-axis inductance , q-axis inductance and the rotor permanent magnet flux It will change with the system state, and real-time parameter identification is difficult to meet the actual engineering needs. At the same time, in order to reduce the control difficulty of permanent magnet synchronous motor and meet the actual engineering needs, this application will use the time-varying d-axis inductance q-axis inductance and the rotor permanent magnet flux Fixed, so formula (1) can be transformed into the stator current equation shown in formula (2), as follows:

[0054]

[0055] In formula (2), L d0 Indicates the nominal inductance of the stator d-axis, L q0 Indicates the nominal inductance value of the q-axis; Indicates the nominal permanent magnet flux value of the rotor; F d_varyparacom (k) represents the system disturbance term of the stator d-axis at time k due to the fixed time-varying motor parameters, F q_varyparacom (k) represents the system disturbance term of the stator q axis at time k due to the fixation of the time-varying motor parameters; F d_others represents other unconsidered system disturbance items of the stator d axis at time k, F q_others F represents other unconsidered system disturbance items of the stator q axis at time k; k represents the total disturbance of the current loop system at time k, F d (k) represents the total disturbance of the stator d-axis current loop system at time k, F q (k) represents the total disturbance of the stator q-axis current loop system at time k, and satisfies

[0056]

[0057] represents the current coefficient matrix after the motor parameters are normalized at time k;

[0058] represents the control input voltage coefficient matrix after the motor parameters are normalized at time k;

[0059] Represents the back electromotive force matrix after the normalization of the motor parameters at time k.

[0060] The inventor found in the process of research that the back electromotive force after the normalization of the motor parameters at time k is Feedforward processing can reduce the control difficulty of the permanent magnet synchronous motor and reduce the amount of calculation.

[0061] It should be noted that the back electromotive force of the feedforward processing in this application The permanent magnet synchronous motor parameters used are all nominal parameters, and no parameter identification processing is required, thereby reducing the control difficulty.

[0062] Feedforward processing of back EMF After that, the discrete stator current equation is transformed into formula (3), which is as follows:

[0063]

[0064] The inventors found during the research that the control period T of the permanent magnet synchronous motor current loop is s Usually it is very small. The total disturbance of the d-axis current loop system and the total disturbance of the q-axis current loop system of the permanent magnet synchronous motor in two adjacent control cycles basically do not change, that is, they satisfy formula (4):

[0065]

[0066] By recursively transforming formula (2) and combining it with formula (3), we can obtain the total disturbance F of the current loop system at time k as shown in formula (5): k The expression is as follows:

[0067]

[0068] Where, represents the current coefficient matrix after the motor parameters are normalized at time k-1;

[0069] represents the control input voltage coefficient matrix after the motor parameters are normalized at time k-1;

[0070] represents the current matrix at time k-1, where i d (k-1) represents the stator d-axis current at time k-1, i q (k-1) represents the stator q-axis current at time k-1;

[0071] represents the control input voltage matrix at time k-1, where u d (k-1) represents the control input voltage of the stator d axis at time k-1, uq (k-1) represents the control input voltage of the stator q axis at time k-1.

[0072] During their research, the inventors discovered that the current sensor in a permanent magnet synchronous motor controller has a current sampling delay. To address this, the present invention determines the stator current sector based on the stator d-axis current and stator q-axis current at time k+1.

[0073] Specifically: Substitute formula (5) into formula (3), and assume that u k =u k-1 , we can obtain the current matrix at time k+1 considering the system disturbance The exact calculation formula for is shown in formula (6):

[0074]

[0075] Where I is the 2×2 identity matrix; represents the current matrix at time k+1, that is, the predicted stator current value at time k+1, where i d (k+1) represents the stator d-axis current at time k+1, i q (k+1) represents the stator q-axis current at time k+1.

[0076] It can be seen from formula (6) that the present application does not need to consider the influence of back electromotive force in the process of obtaining the current matrix at time k+1, and is therefore more suitable for the control of high-speed permanent magnet synchronous motors.

[0077] In addition, after constructing a stator current equation that can simulate the dynamic behavior of a high-speed permanent magnet synchronous motor based on the change of the rotor position within the same control cycle, this application deforms the stator current equation by fixing the motor parameters, introducing back-electromotive force feedforward processing, and compensating for the total disturbance of the current loop system, thereby significantly reducing the computational complexity and achieving the predicted value of the stator current at the next moment with the lowest computational cost.

[0078] In this application, the stator current vector angle θ at time k+1 can be determined based on the predicted stator current value at time k+1. ei (k+1), stator current vector angle θ at time k+1 ei The calculation formula of (k+1) is shown in formula (7):

[0079]

[0080] Where θ e (k) represents the real-time position of the rotor obtained by the resolver decoding chip or soft decoding at time k.

[0081] According to formula (7), the stator current vector angle θ at time k+1 is obtained ei (k+1), from among the divided stator current sectors, the stator current sector to which the stator current vector angle at time k+1 belongs is determined as the target stator current sector. In practical applications, the target stator current sector to which the stator current vector angle at time k+1 belongs can be represented by a sector number.

[0082] The stator current sector division diagram can be found in Figure 1 As shown, Figure 1 The stator current sectors shown in the figure include: sector 1 (Sector1), sector 2 (Sector2), sector 3 (Sector3), sector 4 (Sector4), sector 5 (Sector5) and sector 6 (Sector6). The first positive and negative sign of each sector represents the direction of phase A current, the second positive and negative sign of each sector represents the direction of phase B current, and the third positive and negative sign of each sector represents the direction of phase C current, where "+" indicates that the phase current direction is positive and "-" indicates that the phase current direction is negative.

[0083] Take sector 1 (Sector1) and sector 2 (Sector2) as an example. Figure 1 As shown in the figure, the "+--" in sector 1 (Sector 1) represents that the current direction of phase A is positive, the current direction of phase B is negative, and the current direction of phase C is negative; the "-+-" in sector 2 (Sector 2) represents that the current direction of phase A is negative, the current direction of phase B is positive, and the current direction of phase C is negative; the three-phase current directions of other sectors are similar.

[0084] The stator current sector division method of the present application ensures that the direction of the stator current is fixed in each sector, thereby minimizing the impact of the change in the stator current direction on the harmonics caused by the current loop of the permanent magnet synchronous motor.

[0085] (1) After determining the target stator current sector to which the stator current vector angle at time k+1 belongs, the present application can determine the control input basic voltage value of the high-speed permanent magnet synchronous motor corresponding to the target stator current sector through the correspondence between the stator current sector and the control input basic voltage. The control input basic voltage value of the high-speed permanent magnet synchronous motor can be represented by a control input basic voltage matrix. The control input basic voltage matrix includes: stator d-axis control input basic voltage u d_basic and stator q-axis control input basic voltage u q_basic .

[0086] The corresponding relationship between the stator current sector and the control input basic voltage is shown in Table 1. d_basic and stator q-axis control input basic voltage u q_basicThe corresponding relationship.

[0087] Table 1

[0088]

[0089] In Table 1, U dc represents the DC bus voltage, θ e Indicates the real-time rotor position obtained by the resolver decoding chip or software decoding.

[0090] like Figure 1 As shown, when the stator current vector angle θ obtained according to formula (7) ei When (k+1) is between -30° and 30°, the stator current is in sector 1, and the control input basic voltage matrix

[0091] When the stator current vector angle θ obtained according to formula (7) ei When (k+1) is between 30° and 90°, the stator current is in sector 3, and the control input basic voltage matrix

[0092] When the stator current vector angle θ obtained according to formula (7) ei When (k+1) is between 90° and 150°, the stator current is in sector 2, and the control input basic voltage matrix

[0093] When the stator current vector angle θ obtained according to formula (7) ei When (k+1) is between 150° and 210°, the stator current is in sector 6, and the control input basic voltage matrix

[0094] When the stator current vector angle θ obtained according to formula (7) ei When (k+1) is between 210° and 270°, the stator current is in sector 4, and the control input basic voltage matrix

[0095] When the current vector angle θ obtained according to formula (7) ei When (k+1) is between 270° and 330°, the stator current is in sector 5, and the control input basic voltage matrix

[0096] (2) After determining the target stator current sector to which the stator current vector angle at time k+1 belongs, the present application can determine the control input harmonic compensation voltage value of the high-speed permanent magnet synchronous motor corresponding to the target stator current sector through the correspondence between the stator current sector and the stator dq-axis control input harmonic compensation voltage. The control input harmonic compensation voltage value can be represented by the control input harmonic compensation voltage matrix.

[0097] During the research process, the inventors found that the permanent magnet synchronous motor controller power module will generate a large amount of harmonic voltage during each commutation process. Therefore, it is necessary to compensate for the harmonic voltage generated during the commutation process of the permanent magnet synchronous motor controller power module.

[0098] Take sector 1 (Sector 1) as an example, Figure 1 As shown, +-- represents the positive direction of the current in phase A, the negative direction of the current in phase B, and the negative direction of the current in phase C. The stator current sector division method of the present application ensures that the direction of the stator current is fixed within each sector, thereby minimizing the impact of changes in the stator current direction on the harmonics caused by the current loop of the permanent magnet synchronous motor.

[0099] This application controls the input basic voltage matrix u basic On the basis of , the compensation for harmonic voltage is added. Stator dq axis control input harmonic compensation voltage matrix The method to obtain is as follows:

[0100] This application determines the control input harmonic compensation voltage according to the current direction, and the stator d-axis control input harmonic compensation voltage u d_com and stator q-axis control input harmonic compensation voltage u q_com The corresponding relationship with the sector is shown in Table 2:

[0101] Table 2

[0102]

[0103]

[0104] The compensation voltage u in Table 2 swcom The calculation formula is as follows:

[0105]

[0106] Where, t d Indicates the dead time of power devices (such as SIC MOSFET); t on Indicates the turn-on delay time of a power device (such as SICMOSFET); t off Indicates the turn-off delay time of power devices (such as SIC MOSFET); U dc Indicates the DC bus voltage; Ts Indicates the current loop control period.

[0107] On the basis of the control input basic voltage value, the current loop harmonic voltage is compensated by controlling the input harmonic compensation voltage value, and the control input voltage value of the high-speed permanent magnet synchronous motor can be obtained.

[0108] The calculation formula for the control input voltage value of the high-speed permanent magnet synchronous motor is as follows:

[0109]

[0110] Where, represents the control input harmonic compensation voltage matrix of the stator d-axis and q-axis at time k, where u d_com (k) represents the stator d-axis control input harmonic compensation voltage at time k, u q_com (k) represents the stator q-axis control input harmonic compensation voltage at time k. Control input basic voltage matrix u basic (k) According to Table 1, the control input harmonic compensation voltage matrix u com (k) Determined according to Table 2.

[0111] This application compensates for the current loop harmonic voltage by controlling the input harmonic compensation voltage value based on the control input base voltage value, thereby suppressing the harmonic voltage during the power device commutation process. Furthermore, this application performs voltage modulation based on the obtained control input voltage value of the high-speed permanent magnet synchronous motor, overcoming the disadvantage of unstable switching frequency, thereby effectively reducing harmonic interference and achieving the purpose of reducing torque ripple.

[0112] Based on the above theoretical innovation, an embodiment of the present application discloses a control method for a high-speed permanent magnet synchronous motor, which is applied in a permanent magnet synchronous motor control system.

[0113] See also Figure 2 , a flow chart of a control method for a high-speed permanent magnet synchronous motor disclosed in an embodiment of the present application, the method comprising the following steps:

[0114] Step S101: Based on the rotor position change within the same control cycle, a stator current equation capable of simulating the behavior of a high-speed permanent magnet synchronous motor is constructed.

[0115] The stator current equation in this application includes: the current matrix at the next moment, the current matrix at the current moment, the current coefficient matrix at the current moment, the control input voltage coefficient matrix at the current moment, the control input voltage matrix at the current moment, the permanent magnet flux at the current moment, and the back electromotive force matrix at the current moment.

[0116] Assuming that the current moment of the high-speed permanent magnet synchronous motor is k, based on the change of the rotor position within the same control cycle, the stator current equation that can simulate the behavior of the high-speed permanent magnet synchronous motor is constructed as shown in formula (1).

[0117] Step S102 : performing motor parameter fixing and back electromotive force feedforward processing on the stator current equation, and combining the total disturbance parameters of the current loop system, to obtain a predicted value of the stator current at the next moment after the current moment.

[0118] In practical applications, by fixing the motor parameters and performing back electromotive force feedforward processing on the stator current equation, and combining the total disturbance parameters of the current loop system, the stator current prediction value at the next moment after the current moment is obtained, assuming that the control input voltage value at the current moment is the same as the control input voltage value at the previous moment.

[0119] The process of fixing the motor parameters of the stator current equation may include fixing the stator d-axis inductance, the stator q-axis inductance and the rotor permanent magnet flux in the stator current equation, and obtaining the stator current equation shown in formula (2).

[0120] In order to reduce the control difficulty of high-speed permanent magnet synchronous motors, this application performs feedforward processing on the back electromotive force after the motor parameters are normalized at the current moment, thereby eliminating the parameter identification process and reducing the amount of calculation.

[0121] The inventors found during the research that the control period T of the permanent magnet synchronous motor current loop is s It is usually very small, and the total disturbance of the d-axis current loop system and the total disturbance of the q-axis current loop system of the permanent magnet synchronous motor do not change substantially within two adjacent control cycles. Based on this, the present application determines the total disturbance parameter of the current loop system based on the current matrix at the current moment, the current matrix at the previous moment before the current moment, the current coefficient matrix after the motor parameters are normalized at the previous moment, the control input voltage coefficient matrix after the motor parameters are normalized at the previous moment, and the control input voltage matrix at the previous moment, as shown in formula (5).

[0122] Step S103: determining a control input voltage value of the high-speed permanent magnet synchronous motor at a current moment based on the stator current prediction value.

[0123] During their research, the inventors discovered that the current sensors in permanent magnet synchronous motor controllers have a current sampling delay. Based on this, this application determines the stator current sector based on the stator d-axis and q-axis currents at time k+1. Specifically, the stator current vector angle at the next moment is determined based on the predicted stator current value. From the individual stator current sectors, the stator current sector to which the stator current vector angle at the next moment belongs is determined as the target stator current sector.

[0124] After determining the target stator current sector, the present application can determine the control input voltage value of the high-speed permanent magnet synchronous motor based on the target stator current sector. The specific process is: determining the control input basic voltage value of the high-speed permanent magnet synchronous motor through the target stator current sector; and determining the control input harmonic compensation voltage value of the high-speed permanent magnet synchronous motor through the target stator current sector; on the basis of the control input basic voltage value, the current loop harmonic voltage is compensated through the control input harmonic compensation voltage value to obtain the control input voltage value.

[0125] In practical applications, the control input basic voltage value of the high-speed permanent magnet synchronous motor corresponding to the target stator current sector can be determined according to Table 1; the control input harmonic compensation voltage value of the high-speed permanent magnet synchronous motor corresponding to the target stator current sector can be determined according to Table 2. For details, please refer to the corresponding part of the above embodiment, which will not be repeated here.

[0126] Step S104: performing voltage modulation according to the control input voltage value to control the high-speed permanent magnet synchronous motor.

[0127] The present application performs voltage modulation based on the obtained control input voltage value of the high-speed permanent magnet synchronous motor, thereby overcoming the disadvantage of non-fixed switching frequency, thereby effectively reducing harmonic interference and achieving the purpose of reducing torque pulsation.

[0128] In summary, the present invention discloses a control method for a high-speed permanent magnet synchronous motor. Based on the change of the rotor position within the same control cycle, a stator current equation capable of simulating the behavior of the high-speed permanent magnet synchronous motor is constructed. By fixing the motor parameters and performing back electromotive force feedforward processing on the stator current equation, and combining the total disturbance parameters of the current loop system, a stator current prediction value at the next moment of the current moment is obtained. Based on the stator current prediction value, the control input voltage value of the high-speed permanent magnet synchronous motor at the current moment is determined, and voltage modulation is performed according to the control input voltage value to control the high-speed permanent magnet synchronous motor. The present invention constructs a stator current equation capable of simulating the dynamic behavior of the high-speed permanent magnet synchronous motor based on the change of the rotor position within the same control cycle, and deforms the stator current equation by fixing the motor parameters, introducing back electromotive force feedforward processing and current loop system total disturbance compensation, thereby significantly reducing the computational complexity, thereby reducing the computing power requirement of the permanent magnet synchronous motor main control chip, and is therefore suitable for the control of high-speed permanent magnet synchronous motors.

[0129] Corresponding to the above method embodiment, the present invention also discloses a control device for a high-speed permanent magnet synchronous motor.

[0130] See also Figure 3 , a schematic structural diagram of a control device for a high-speed permanent magnet synchronous motor disclosed in an embodiment of the present invention, the device may include:

[0131] The construction unit 201 is used to construct a stator current equation capable of simulating the behavior of the high-speed permanent magnet synchronous motor based on the rotor position change within the same control cycle.

[0132] The stator current equation in this application includes: the current matrix at the next moment, the current matrix at the current moment, the current coefficient matrix at the current moment, the control input voltage coefficient matrix at the current moment, the control input voltage matrix at the current moment, the permanent magnet flux at the current moment, and the back electromotive force matrix at the current moment.

[0133] Assuming that the current moment of the high-speed permanent magnet synchronous motor is k, based on the change of the rotor position within the same control cycle, the stator current equation that can simulate the behavior of the high-speed permanent magnet synchronous motor is constructed as shown in formula (1).

[0134] The current prediction value determination unit 202 is used to obtain the stator current prediction value at the next moment of the current moment by fixing the motor parameters and performing back electromotive force feedforward processing on the stator current equation and combining the total disturbance parameters of the current loop system.

[0135] The current prediction value determination unit 202 can be specifically used to: fix the stator direct-axis inductance, stator quadrature-axis inductance and rotor permanent magnet flux in the stator current equation; and perform feedforward processing on the back electromotive force after the motor parameters are normalized at the current moment.

[0136] The current prediction value determination unit 202 can also be specifically used to determine the total disturbance parameters of the current loop system based on the current matrix at the current moment, the current matrix at the previous moment before the current moment, the current coefficient matrix after the motor parameters are normalized at the previous moment, the control input voltage coefficient matrix after the motor parameters are normalized at the previous moment, and the control input voltage matrix at the previous moment.

[0137] The control input voltage value determining unit 203 is configured to determine the control input voltage value of the high-speed permanent magnet synchronous motor at a current moment based on the stator current prediction value.

[0138] The motor control unit 204 is configured to perform voltage modulation according to the control input voltage value to control the high-speed permanent magnet synchronous motor.

[0139] In summary, the present invention discloses a control device for a high-speed permanent magnet synchronous motor. Based on the change of the rotor position within the same control cycle, a stator current equation capable of simulating the behavior of the high-speed permanent magnet synchronous motor is constructed. By fixing the motor parameters and performing back electromotive force feedforward processing on the stator current equation, and combining the total disturbance parameters of the current loop system, a stator current prediction value at the next moment of the current moment is obtained. Based on the stator current prediction value, the control input voltage value of the high-speed permanent magnet synchronous motor at the current moment is determined. Voltage modulation is performed according to the control input voltage value to control the high-speed permanent magnet synchronous motor. Based on the change of the rotor position within the same control cycle, the present invention constructs a stator current equation capable of simulating the dynamic behavior of the high-speed permanent magnet synchronous motor, and deforms the stator current equation by fixing the motor parameters, introducing back electromotive force feedforward processing and current loop system total disturbance compensation, thereby significantly reducing the computational complexity, thereby reducing the computing power requirement of the permanent magnet synchronous motor main control chip, and is therefore suitable for the control of high-speed permanent magnet synchronous motors.

[0140] In one embodiment, the control input voltage value determination unit 203 may be specifically configured to:

[0141] determining a corresponding target stator current sector based on the stator current prediction value;

[0142] The control input voltage value is determined based on the target stator current sector.

[0143] In one embodiment, the control input voltage value determination unit 203 may be specifically configured to:

[0144] Determining a stator current vector angle at a next moment based on the stator current prediction value;

[0145] From the divided stator current sectors, the stator current sector to which the stator current vector angle at the next moment belongs is determined as the target stator current sector.

[0146] In one embodiment, the control input voltage value determination unit 203 may be specifically configured to:

[0147] Determining a control input basic voltage value of the high-speed permanent magnet synchronous motor according to the target stator current sector;

[0148] Determining a control input harmonic compensation voltage value of the high-speed permanent magnet synchronous motor according to the target stator current sector;

[0149] On the basis of the control input basic voltage value, the current loop harmonic voltage is compensated by the control input harmonic compensation voltage value to obtain the control input voltage value.

[0150] It should be noted that, for the specific working principles of the various components in the device embodiment, please refer to the corresponding part of the method embodiment, which will not be repeated here.

[0151] Corresponding to the above embodiment, the present invention further discloses a computer storage medium, which stores at least one instruction. When the at least one instruction is executed by a processor, the steps shown in the embodiment of the control method of a high-speed permanent magnet synchronous motor are implemented.

[0152] Corresponding to the above embodiment, Figure 4 As shown, the present invention also provides a structural diagram of a permanent magnet synchronous motor control system, which may include: a motor controller 1 and a memory 2;

[0153] The motor controller 1 and the memory 2 communicate with each other via the communication bus 3;

[0154] A motor controller 1, configured to execute at least one instruction;

[0155] Memory 2, used to store at least one instruction;

[0156] The motor controller 1 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0157] The memory 2 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0158] Among them, the processor executes at least one instruction to implement the steps shown in the embodiment of the control method of the high-speed permanent magnet synchronous motor.

[0159] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0160] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0161] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for a high-speed permanent magnet synchronous motor, characterized in that: include: Based on the rotor position changes within the same control cycle, a stator current equation is constructed to simulate the behavior of a high-speed permanent magnet synchronous motor. By fixing the motor parameters and performing back electromotive force feedforward processing on the stator current equation and combining the total disturbance parameters of the current loop system, a predicted value of the stator current at the next moment of the current moment is obtained; Determining a control input voltage value of the high-speed permanent magnet synchronous motor at a current moment based on the stator current prediction value; Voltage modulation is performed according to the control input voltage value to control the high-speed permanent magnet synchronous motor.

2. The control method of a high-speed permanent magnet synchronous motor according to claim 1, characterized in that: The stator current equation includes: the current matrix at the next moment, the current matrix at the current moment, the current coefficient matrix at the current moment, the control input voltage coefficient matrix at the current moment, the control input voltage matrix at the current moment, the permanent magnet flux at the current moment, and the back electromotive force matrix at the current moment.

3. The control method of a high-speed permanent magnet synchronous motor according to claim 1 or 2, characterized in that: The performing motor parameter fixing and back electromotive force feedforward processing on the stator current equation includes: Fixing the stator direct-axis inductance, the stator quadrature-axis inductance, and the rotor permanent magnet flux in the stator current equation; The back electromotive force after the normalization of the motor parameters at the current moment is fed forward.

4. The control method of a high-speed permanent magnet synchronous motor according to claim 1 or 2, characterized in that: The process of determining the total disturbance parameter of the current loop system includes: The total disturbance parameter of the current loop system is determined based on the current matrix at the current moment, the current matrix at the previous moment, the current coefficient matrix after the motor parameters are normalized at the previous moment, the control input voltage coefficient matrix after the motor parameters are normalized at the previous moment, and the control input voltage matrix at the previous moment.

5. The control method of a high-speed permanent magnet synchronous motor according to claim 1, characterized in that: The determining of the control input voltage value of the high-speed permanent magnet synchronous motor at a current moment based on the stator current prediction value includes: determining a corresponding target stator current sector based on the stator current prediction value; The control input voltage value is determined based on the target stator current sector.

6. The control method of a high-speed permanent magnet synchronous motor according to claim 5, characterized in that: The determining a corresponding target stator current sector based on the stator current prediction value includes: Determining a stator current vector angle at a next moment based on the stator current prediction value; From the divided stator current sectors, the stator current sector to which the stator current vector angle at the next moment belongs is determined as the target stator current sector.

7. The control method of a high-speed permanent magnet synchronous motor according to claim 5 or 6, characterized in that: The determining the control input voltage value based on the target stator current sector includes: Determining a control input basic voltage value of the high-speed permanent magnet synchronous motor according to the target stator current sector; Determining a control input harmonic compensation voltage value of the high-speed permanent magnet synchronous motor according to the target stator current sector; On the basis of the control input basic voltage value, the current loop harmonic voltage is compensated by the control input harmonic compensation voltage value to obtain the control input voltage value.

8. A control device for a high-speed permanent magnet synchronous motor, characterized in that: include: A construction unit for constructing a stator current equation capable of simulating the behavior of a high-speed permanent magnet synchronous motor based on a rotor position change within a same control cycle; A current prediction value determination unit is used to obtain a stator current prediction value at the next moment of the current moment by fixing motor parameters and performing back electromotive force feedforward processing on the stator current equation and combining the total disturbance parameters of the current loop system; a control input voltage value determining unit, configured to determine a control input voltage value of the high-speed permanent magnet synchronous motor at a current moment based on the stator current prediction value; A motor control unit is used to perform voltage modulation according to the control input voltage value to control the high-speed permanent magnet synchronous motor.

9. A computer storage medium, characterized in that The computer storage medium stores at least one instruction, and when the at least one instruction is executed by the processor, the control method of the high-speed permanent magnet synchronous motor according to any one of claims 1 to 7 is implemented.

10. A permanent magnet synchronous motor control system, characterized in that: include: Motor controller and memory; The memory is used to store computer programs; The motor controller is used to run the computer program to implement the control method of the high-speed permanent magnet synchronous motor according to any one of claims 1 to 7.

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