A control method of a high-speed permanent magnet synchronous motor and related device

Abstract

The application discloses a control method and related device of a high-speed permanent magnet synchronous motor, and relates to the field of control, which comprises the following steps: constructing a stator current equation capable of simulating the behavior of a high-speed permanent magnet synchronous motor based on the change of rotor position in the same control cycle; obtaining the predicted value of the stator current at the next moment by 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; determining the control input voltage value of the high-speed permanent magnet synchronous motor at the current moment based on the predicted value of the stator current; and performing voltage modulation according to the control input voltage value to control the high-speed permanent magnet synchronous motor. The application constructs the stator current equation based on the change of rotor position in the same control cycle, performs deformation processing on the stator current equation by fixing the motor parameters, introducing back electromotive force feedforward processing and total disturbance compensation of the current loop system, reduces the computing power requirement of the main control chip of the permanent magnet synchronous motor, and is suitable for the control of the high-speed permanent magnet synchronous motor.

Description

Technical Field

[0001] This invention relates to the field of control technology, and more specifically, to a control method and related apparatus for a high-speed permanent magnet synchronous motor. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs) are increasingly used in automotive, agricultural machinery, and construction machinery industries due to their compact structure, low maintenance costs, and good vibration and noise characteristics. As the pursuit of maximum power efficiency continues, the speed of PMSMs is constantly increasing, and correspondingly, the requirements for control strategies are also becoming more demanding. Model predictive control (MMC) algorithms are increasingly being used in PMSM control due to their fast response speed and high control accuracy. However, conventional MMC algorithms require online solving of complex quadratic programming problems, resulting in high computational demands on the PMSM main control chip. Furthermore, conventional MMC algorithms assume that the rotor position does not change within the same control cycle, making them unsuitable for controlling high-speed PMSMs using conventional chips.

[0003] Therefore, how to provide a control method for high-speed permanent magnet synchronous motors that can reduce the computing power requirements of the main control chip while being applicable to the control of high-speed permanent magnet synchronous motors has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the present invention discloses a control method and related device 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 includes:

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

[0007] By fixing the motor parameters and feeding forward the back EMF into the stator current equation, and combining the total disturbance parameters of the current loop system, the predicted value of the stator current at the next moment is obtained.

[0008] The control input voltage value of the high-speed permanent magnet synchronous motor at the current moment is determined based on the predicted stator current value.

[0009] Voltage modulation is performed based on 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 time step, the current matrix at the current time step, the current coefficient matrix at the current time step, the control input voltage coefficient matrix at the current time step, the control input voltage matrix at the current time step, the permanent magnet flux linkage at the current time step, and the back electromotive force matrix at the current time step.

[0011] Optionally, the step of fixing motor parameters and feeding forward back EMF into the stator current equation includes:

[0012] The stator direct-axis inductance, stator quadrature-axis inductance, and rotor permanent magnet flux linkage in the stator current equation are fixed.

[0013] Feedforward processing is performed on the back electromotive force after the motor parameters are normalized at the current moment.

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

[0015] The total disturbance parameters of the current loop system are 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 were normalized at the previous moment, the control input voltage coefficient matrix after the motor parameters were 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 the current moment based on the predicted stator current value includes:

[0017] The corresponding target stator current sector is determined based on the predicted stator current value;

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

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

[0020] The stator current vector angle at the next moment is determined based on the predicted stator current value;

[0021] From the various 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] The control input base voltage value of the high-speed permanent magnet synchronous motor is determined by the target stator current sector.

[0024] The control input harmonic compensation voltage value of the high-speed permanent magnet synchronous motor is determined by the target stator current sector.

[0025] Based on the control input base voltage value, the current loop harmonic voltage is compensated using 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 includes:

[0027] The building unit is used to construct stator current equations that can simulate the behavior of a high-speed permanent magnet synchronous motor based on the rotor position change within the same control cycle.

[0028] The current prediction value determination unit is used to obtain the stator current prediction value for the next moment from the current moment by fixing the motor parameters and feeding forward the back electromotive force on the stator current equation, and by combining the total disturbance parameters of the current loop system.

[0029] A control input voltage value determination unit is used to determine the control input voltage value of the high-speed permanent magnet synchronous motor at the current moment based on the stator current prediction value;

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

[0031] A computer storage medium storing at least one instruction, which, when executed by a processor, implements a control method for any high-speed permanent magnet synchronous motor.

[0032] A permanent magnet synchronous motor control system includes:

[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 for a high-speed permanent magnet synchronous motor.

[0036] As can be seen from the above technical solution, this invention discloses a control method and related device for a high-speed permanent magnet synchronous motor. 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. By fixing the motor parameters and feeding forward the back EMF into the stator current equation, and combining it with the total disturbance parameters of the current loop system, the predicted value of the stator current for the next moment is obtained. Based on the predicted stator current 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. This invention constructs a stator current equation capable of simulating the dynamic behavior of a high-speed permanent magnet synchronous motor based on the rotor position change within the same control cycle. By fixing the motor parameters, introducing back EMF feeding forward processing, and compensating for the total disturbance of the current loop system, the stator current equation is transformed, thereby significantly reducing the computational complexity and thus reducing the computing power requirements of the permanent magnet synchronous motor main control chip. Therefore, it is suitable for the control of high-speed permanent magnet synchronous motors. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the published drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the stator current sector division disclosed in an embodiment of the present invention;

[0039] Figure 2 This is a flowchart 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 diagram of the structure of a control device for a high-speed permanent magnet synchronous motor disclosed in an embodiment of the present invention;

[0041] Figure 4 This is a schematic diagram of a permanent magnet synchronous motor control system disclosed in an embodiment of the present invention. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] A high-speed permanent magnet synchronous motor is a type of permanent magnet synchronous motor with a speed significantly higher than that of a conventional motor. Its core feature is the use of permanent magnets to establish a rotor magnetic field, which is then synchronized with the rotor magnetic field by a rotating magnetic field generated by the stator windings, achieving efficient and high-precision energy conversion.

[0044] Conventional model predictive control algorithms have high computing power requirements for the main control chip of permanent magnet synchronous motors. In addition, conventional model predictive control algorithms are implemented based on the assumption that the rotor position does not change within the same control cycle. These two reasons make it impossible to directly deploy conventional model predictive control algorithms on conventional chips to achieve effective control of high-speed permanent magnet synchronous motors.

[0045] To address the above problems, this invention improves the stator current equation of the PMSM, as follows:

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

[0047]

[0048] In equation (1), This 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] Let i represent 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] Let i represent 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] This represents the rotor flux linkage angular velocity at time k. This represents the rotor permanent magnet flux linkage at time k; This represents the stator d-axis inductance at time k. T represents the stator q-axis inductance at time k; s Indicates the current loop control period; This represents the current coefficient matrix at time k; This represents the control input voltage coefficient matrix at time k; Let represent the back electromotive force matrix at time k.

[0052] During their research, the inventors discovered that as the speed of the permanent magnet synchronous motor continuously increases, within the same control cycle T... s The angle that the internal permanent magnet synchronous motor rotates will be much greater than Therefore, conventional model predictive control algorithms are not suitable for controlling high-speed permanent magnet synchronous motors because they do not consider rotor position changes within the same control cycle.

[0053] Considering the stator d-axis inductance q-axis inductance and rotor permanent magnet flux The time-varying d-axis inductance changes with the system state, and real-time parameter identification is difficult to meet the needs of practical engineering. Meanwhile, to reduce the control difficulty of the permanent magnet synchronous motor and meet the needs of practical engineering, this application uses the time-varying d-axis inductance... q-axis inductor and rotor permanent magnet flux Since it is fixed, formula (1) can be transformed into the stator current equation shown in formula (2), as follows:

[0054]

[0055] In equation (2), L d0 L represents the nominal inductance value of the stator d-axis. q0 Indicates the nominal inductance value along the q-axis; Indicates the nominal flux linkage of the rotor's permanent magnets; F d_varyparacom (k) represents the system disturbance term at time k caused by fixing the time-varying motor parameters on the stator d-axis, F. q_varyparacom (k) represents the system disturbance term at time k caused by fixing the time-varying motor parameters on the stator q-axis; F d_others F represents the unconsidered system disturbance terms along the stator d-axis at time k. q_others F represents the unconsidered system disturbance terms along the stator q-axis at time k; k F represents the total disturbance of the current loop system at time k. 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] This represents the normalized current coefficient matrix of the motor parameters at time k;

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

[0059] This represents the back electromotive force matrix after the motor parameters are normalized at time k.

[0060] During their research, the inventors discovered that the back electromotive force after standardizing the motor parameters at time k... Feedforward processing can reduce the control difficulty of permanent magnet synchronous motors and reduce the amount of computation.

[0061] It should be noted that the back electromotive force processed in this application is... The parameters of the permanent magnet synchronous motors used are all nominal parameters, which do not require parameter identification and processing, thus reducing the difficulty of control.

[0062] Feedforward processing of back electromotive force Then, the discrete form of the stator current equation is transformed into formula (3), which is as follows:

[0063]

[0064] During their research, the inventors discovered that the control period T of the current loop in a permanent magnet synchronous motor... s Typically 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 remain essentially unchanged within two adjacent control cycles, i.e., satisfying 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] In the formula, This represents the normalized current coefficient matrix of the motor parameters at time k-1;

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

[0070] Let i represent 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] This 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 the permanent magnet synchronous motor controller experiences a current sampling delay. To address this delay, this application 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 u k =u k-1 This allows us to obtain the current matrix at time k+1, taking into account system disturbances. For the precise calculation formula, please refer to formula (6):

[0074]

[0075] In the formula, I is a 2×2 identity matrix; Let i represent the current matrix at time k+1, which is also 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] As can be seen from formula (6), this 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 motor.

[0077] In addition, this application constructs a stator current equation that can simulate the dynamic behavior of a high-speed permanent magnet synchronous motor based on the change of rotor position within the same control cycle. By fixing motor parameters, introducing back EMF feedforward processing, and compensating for the total disturbance of the current loop system, the stator current equation is deformed, thereby significantly reducing the computational complexity and obtaining the predicted value of the stator current at the next moment with minimal 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), the stator current vector angle θ at time k+1 ei The formula for calculating (k+1) is shown in formula (7):

[0079]

[0080] In the formula, θ e (k) represents the real-time rotor position obtained at time k by the resolver decoding chip or software decoding.

[0081] The stator current vector angle θ at time k+1 is obtained from formula (7). ei (k+1) From 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 schematic diagram of the stator current sector division can be found in [reference needed]. Figure 1 As shown, Figure 1 The stator current sectors shown include: Sector 1, Sector 2, Sector 3, Sector 4, Sector 5, and Sector 6. The first plus or minus sign of each sector indicates the direction of the A-phase current, the second plus or minus sign indicates the direction of the B-phase current, and the third plus or minus sign indicates the direction of the C-phase current. "+" indicates that the phase current direction is positive, and "-" indicates that the phase current direction is negative.

[0083] Taking sector 1 and sector 2 as examples, such as Figure 1 As shown, in sector 1, "+--" indicates 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; in sector 2, "-+-" indicates 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 this application ensures that the direction of the stator current is fixed in each sector, thereby minimizing the impact of stator current direction changes on harmonics caused by the current loop of the permanent magnet synchronous motor.

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

[0086] The correspondence between stator current sectors and control input base voltages is shown in Table 1. d_basic and stator q-axis control input base voltage u q_basicThe correspondence.

[0087] Table 1

[0088]

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

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

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

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

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

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

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

[0096] (ii) After determining the target stator current sector to which the stator current vector angle belongs at time k+1, this 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 by means of 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 their research, the inventors discovered that the power module of the permanent magnet synchronous motor controller generates a large amount of harmonic voltage during each commutation process. Therefore, it is necessary to compensate for the harmonic voltage generated by the power module of the permanent magnet synchronous motor controller during the commutation process.

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

[0099] This application uses the control input base voltage matrix u basic Based on this, harmonic voltage compensation is added. The stator dq-axis control input harmonic compensation voltage matrix... The method to obtain it is as follows:

[0100] This application determines the control input harmonic compensation voltage based on 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 correspondence between sectors and regions 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] In the formula, t d Indicates the dead time of power devices (such as SiC MOSFETs); t on Indicates the turn-on delay time of power devices (such as SiC MOSFETs); t off U represents the turn-off delay time of power devices (such as SiC MOSFETs); dc Indicates the DC bus voltage; Ts This indicates the current loop control period.

[0107] Based on the control input base voltage value, the control input voltage value of the high-speed permanent magnet synchronous motor can be obtained by compensating for the harmonic voltage of the current loop through the control input harmonic compensation voltage value.

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

[0109]

[0110] In the formula, This represents the stator d-axis and q-axis control input harmonic compensation voltage matrix 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. The control input base voltage matrix u basic (k) Determine the control input harmonic compensation voltage matrix u according to Table 1. com (k) Determined according to Table 2.

[0111] This application, based on the control input base voltage value, compensates for current loop harmonic voltages by controlling the input harmonic compensation voltage value, thereby suppressing harmonic voltages during the commutation process of power devices. Furthermore, this application modulates the voltage based on the obtained control input voltage value of the high-speed permanent magnet synchronous motor, overcoming the drawback of inconsistent switching frequencies, thus effectively reducing harmonic interference and achieving the goal of reducing torque ripple.

[0112] Based on the above theoretical innovations, the embodiments of this application disclose a control method for a high-speed permanent magnet synchronous motor, which is applied in a permanent magnet synchronous motor control system.

[0113] See Figure 2 The present application discloses a flowchart of a control method for a high-speed permanent magnet synchronous motor, which includes the following steps:

[0114] Step S101: Based on the rotor position change within the same control cycle, construct the stator current equation that can simulate the behavior of a high-speed permanent magnet synchronous motor.

[0115] The stator current equations in this application include: the current matrix at the next time step, the current matrix at the current time step, the current coefficient matrix at the current time step, the control input voltage coefficient matrix at the current time step, the control input voltage matrix at the current time step, the permanent magnet flux linkage at the current time step, and the back electromotive force matrix at the current time step.

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

[0117] Step S102: By fixing the motor parameters and feeding forward the back EMF of the stator current equation, and combining the total disturbance parameters of the current loop system, the predicted value of the stator current at the next moment is obtained.

[0118] In practical applications, by fixing the motor parameters and feeding forward the back EMF into the stator current equation, and combining the total disturbance parameters of the current loop system, the predicted value of the stator current for the next moment is obtained under the assumption 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 motor parameters in the stator current equation can include fixing the stator d-axis inductance, stator q-axis inductance and rotor permanent magnet flux linkage in the stator current equation, which can yield the stator current equation shown in formula (2).

[0120] 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 nominalized at the current moment, thereby eliminating the parameter identification process and reducing the amount of calculation.

[0121] During their research, the inventors discovered that the control period T of the current loop in a permanent magnet synchronous motor... s Typically 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 remain essentially unchanged between two adjacent control cycles. Based on this, this application determines the total disturbance parameters of the current loop system according to 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, as detailed in formula (5).

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

[0123] During their research, the inventors discovered that the current sensor in the permanent magnet synchronous motor controller experiences a current sampling delay. Based on this, this application determines the stator current sector based on the stator d-axis current and q-axis current at time k+1. Specifically, it determines the stator current vector angle at the next moment based on the predicted stator current value; and from the divided stator current sectors, it determines the stator current sector to which the stator current vector angle at the next moment belongs as the target stator current sector.

[0124] After determining the target stator current sector, this 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 as follows: determine the basic control input voltage value of the high-speed permanent magnet synchronous motor through the target stator current sector; determine the control input harmonic compensation voltage value of the high-speed permanent magnet synchronous motor through the target stator current sector; and, based on the basic control input voltage value, compensate for the current loop harmonic voltage through the control input harmonic compensation voltage value to obtain the control input voltage value.

[0125] In practical applications, the control input base 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 parts of the above embodiments, which will not be repeated here.

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

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

[0128] In summary, this invention discloses a control method for a high-speed permanent magnet synchronous motor (PMSM). Based on the rotor position change within the same control cycle, a stator current equation capable of simulating the behavior of a high-speed PMSM is constructed. By fixing motor parameters and feeding forward back EMF into the stator current equation, and combining this with the total disturbance parameters of the current loop system, the predicted stator current value for the next moment is obtained. Based on the predicted stator current value, the control input voltage value of the high-speed PMSM at the current moment is determined. Voltage modulation is then performed based on the control input voltage value to control the high-speed PMSM. This invention constructs a stator current equation capable of simulating the dynamic behavior of a high-speed PMSM based on the rotor position change within the same control cycle. By fixing motor parameters, introducing back EMF feedforward processing, and compensating for the total disturbance of the current loop system, the stator current equation is transformed, thereby significantly reducing computational complexity and thus reducing the computing power requirements of the main control chip for the PMSM. Therefore, it is suitable for the control of high-speed PMSMs.

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

[0130] See Figure 3 The present invention discloses a schematic diagram of a control device for a high-speed permanent magnet synchronous motor, which may include:

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

[0132] The stator current equations in this application include: the current matrix at the next time step, the current matrix at the current time step, the current coefficient matrix at the current time step, the control input voltage coefficient matrix at the current time step, the control input voltage matrix at the current time step, the permanent magnet flux linkage at the current time step, and the back electromotive force matrix at the current time step.

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

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

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

[0136] The current prediction value determination unit 202 can also be 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, the current coefficient matrix after the motor parameters were normalized at the previous moment, the control input voltage coefficient matrix after the motor parameters were normalized at the previous moment, and the control input voltage matrix at the previous moment.

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

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

[0139] In summary, this invention discloses a control device for a high-speed permanent magnet synchronous motor (PMSM). Based on the rotor position change within the same control cycle, a stator current equation capable of simulating the behavior of a high-speed PMSM is constructed. By fixing motor parameters and feeding forward back EMF into the stator current equation, and combining this with the total disturbance parameters of the current loop system, the predicted stator current value for the next moment is obtained. Based on the predicted stator current value, the control input voltage value of the high-speed PMSM at the current moment is determined. Voltage modulation is then performed based on the control input voltage value to control the high-speed PMSM. This invention constructs a stator current equation capable of simulating the dynamic behavior of a high-speed PMSM based on the rotor position change within the same control cycle. By fixing motor parameters, introducing back EMF feedforward processing, and compensating for the total disturbance of the current loop system, the stator current equation is transformed, significantly reducing computational complexity and thus reducing the computing power requirements of the PMSM main control chip. Therefore, it is suitable for the control of high-speed PMSMs.

[0140] In one embodiment, the control input voltage value determination unit 203 can be specifically used for:

[0141] The corresponding target stator current sector is determined based on the predicted stator current 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 can be specifically used for:

[0144] The stator current vector angle at the next moment is determined based on the predicted stator current value;

[0145] From the various 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 can be specifically used for:

[0147] The control input base voltage value of the high-speed permanent magnet synchronous motor is determined by the target stator current sector.

[0148] The control input harmonic compensation voltage value of the high-speed permanent magnet synchronous motor is determined by the target stator current sector.

[0149] Based on the control input base voltage value, the current loop harmonic voltage is compensated using 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 each component in the device embodiment, please refer to the corresponding section of the method embodiment, which will not be repeated here.

[0151] Corresponding to the above embodiments, the present invention also discloses a computer storage medium that stores at least one instruction, which, when executed by a processor, implements the steps shown in the embodiments of the control method for a high-speed permanent magnet synchronous motor.

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

[0153] Among them, the motor controller 1 and the memory 2 communicate with each other through the communication bus 3;

[0154] Motor controller 1 is used to execute at least one instruction;

[0155] Memory 2 is 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 embodiments of the present invention.

[0157] Memory 2 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

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

[0159] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

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

[0161] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those 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 invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded 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 change within the same control cycle, a stator current equation that can simulate the behavior of a high-speed permanent magnet synchronous motor is constructed. By fixing the motor parameters and feeding forward the back EMF into the stator current equation, and combining the total disturbance parameters of the current loop system, the predicted value of the stator current at the next moment is obtained. The control input voltage value of the high-speed permanent magnet synchronous motor at the current moment is determined based on the predicted stator current value. Voltage modulation is performed based on the control input voltage value to control the high-speed permanent magnet synchronous motor; The step of determining the control input voltage value of the high-speed permanent magnet synchronous motor at the current moment based on the stator current prediction value includes: The corresponding target stator current sector is determined based on the predicted stator current value; The control input voltage value is determined based on the target stator current sector; Determining the corresponding target stator current sector based on the predicted stator current value includes: The stator current vector angle at the next moment is determined based on the predicted stator current value; From the various 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.

2. The control method for 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 time step, the current matrix at the current time step, the current coefficient matrix at the current time step, the control input voltage coefficient matrix at the current time step, the control input voltage matrix at the current time step, the permanent magnet flux linkage at the current time step, and the back electromotive force matrix at the current time step.

3. The control method for a high-speed permanent magnet synchronous motor according to claim 1 or 2, characterized in that, The process of fixing motor parameters and feeding forward back electromotive force into the stator current equation includes: The stator direct-axis inductance, stator quadrature-axis inductance, and rotor permanent magnet flux linkage in the stator current equation are fixed. Feedforward processing is performed on the back electromotive force after the motor parameters are normalized at the current moment.

4. The control method for a high-speed permanent magnet synchronous motor according to claim 1 or 2, characterized in that, The process of determining the total disturbance parameters of the current loop system includes: The total disturbance parameters of the current loop system are 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 for a high-speed permanent magnet synchronous motor according to claim 1, characterized in that, Determining the control input voltage value based on the target stator current sector includes: The control input base voltage value of the high-speed permanent magnet synchronous motor is determined by the target stator current sector. The control input harmonic compensation voltage value of the high-speed permanent magnet synchronous motor is determined by the target stator current sector. Based on the control input base voltage value, the current loop harmonic voltage is compensated using the control input harmonic compensation voltage value to obtain the control input voltage value.

6. A control device for a high-speed permanent magnet synchronous motor, characterized in that, include: The building unit is used to construct stator current equations that can simulate the behavior of a high-speed permanent magnet synchronous motor based on the rotor position change within the same control cycle. The current prediction value determination unit is used to obtain the stator current prediction value for the next moment from the current moment by fixing the motor parameters and feeding forward the back electromotive force on the stator current equation, and by combining the total disturbance parameters of the current loop system. A control input voltage value determination unit is used to determine the control input voltage value of the high-speed permanent magnet synchronous motor at the current moment based on the stator current prediction value; The motor control unit is used to perform voltage modulation according to the control input voltage value in order to control the high-speed permanent magnet synchronous motor; Specifically, the control input voltage value determination unit is used for: The corresponding target stator current sector is determined based on the predicted stator current value; The control input voltage value is determined based on the target stator current sector; The control input voltage value determination unit is further used for: The stator current vector angle at the next moment is determined based on the predicted stator current value; From the various 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. A computer storage medium, characterized in that, The computer storage medium stores at least one instruction, which, when executed by the processor, implements the control method for the high-speed permanent magnet synchronous motor as described in any one of claims 1 to 5.

8. 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 5.

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