Operation control method of permanent magnet synchronous motor and related device

Abstract

The invention provides an operation control method of a permanent magnet synchronous motor and a related device, and relates to the technical field of permanent magnet synchronous motors. The method comprises the steps of obtaining a stator torque current differential model of the permanent magnet synchronous motor, determining a state space expression which corresponds to the stator torque current differential model and at least comprises ferroelectric current and total disturbance of a system, and calculating an estimated value of the ferroelectric current and an estimated value of the total disturbance of the system by utilizing the state space expression. And calculating iron loss compensation voltage according to one of the estimated value of the iron loss current and the estimated value of the total disturbance of the system, and correcting the initial control input voltage by using the iron loss compensation voltage to obtain target control input voltage. According to the method, the initial control input voltage is subjected to voltage compensation operation by using the iron loss compensation voltage, so that the iron loss of the permanent magnet synchronous motor is effectively inhibited, the heating value of the permanent magnet synchronous motor is reduced, the maximum performance of the permanent magnet synchronous motor can be exerted, and the operation efficiency of the permanent magnet synchronous motor is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of permanent magnet synchronous motor, and particularly relates to a running control method of permanent magnet synchronous motor and related device. BACKGROUND

[0002] Due to the advantages of compact structure, low maintenance cost and high power density, permanent magnet synchronous motors (PMSM) are increasingly applied in automobile driving, agricultural machinery, engineering machinery and other industries.

[0003] With the continuous increase of the speed of the permanent magnet synchronous motor, the iron loss of the permanent magnet synchronous motor is also increasing. The increase of the iron loss of the permanent magnet synchronous motor leads to a rapid temperature rise of the permanent magnet synchronous motor. The temperature rise of the permanent magnet synchronous motor causes the continuous decline of the torque output capability, and the system efficiency also continuously declines. Therefore, how to reduce the iron loss of the permanent magnet synchronous motor, exert the maximum performance of the permanent magnet synchronous motor and improve the running efficiency of the permanent magnet synchronous motor has become one of the problems to be solved by the technical personnel in the field. SUMMARY

[0004] In view of the above problems, the present application provides a running control method of permanent magnet synchronous motor and related device to realize the purpose of reducing the iron loss of the permanent magnet synchronous motor, exerting the maximum performance of the permanent magnet synchronous motor and improving the running efficiency of the permanent magnet synchronous motor. The specific scheme is as follows:

[0005] The first aspect of the present application provides a running control method of permanent magnet synchronous motor, comprising:

[0006] obtaining a stator torque current differential model of the permanent magnet synchronous motor; the stator torque current differential model is a model considering the influence of iron loss on the running of the permanent magnet synchronous motor;

[0007] determining a state space expression corresponding to the stator torque current differential model, the state space expression at least containing an iron loss current and a system total disturbance, and calculating an estimated value of the iron loss current and an estimated value of the system total disturbance by using the state space expression;

[0008] calculating an iron loss compensation voltage according to one of the estimated value of the iron loss current and the estimated value of the system total disturbance, and modifying an initial control input voltage by using the iron loss compensation voltage to obtain a target control input voltage;

[0009] using the target control input voltage to perform running control of the permanent magnet synchronous motor.

[0010] In one possible implementation, the iron loss compensation voltage is calculated according to one of the estimated value of the iron loss current and the estimated value of the total system disturbance, and the initial control input voltage is modified by using the iron loss compensation voltage to obtain the target control input voltage, including:

[0011] constructing a matrix including the inverse of the nominal stator iron loss resistance;

[0012] multiplying the matrix by the estimated value of the iron loss current as the iron loss compensation voltage;

[0013] obtaining the initial control input voltage;

[0014] adding the initial control input voltage and the iron loss compensation voltage as the target control input voltage.

[0015] In one possible implementation, the iron loss compensation voltage is calculated according to one of the estimated value of the iron loss current and the estimated value of the total system disturbance, and the initial control input voltage is modified by using the iron loss compensation voltage to obtain the target control input voltage, including:

[0016] calculating the iron loss compensation voltage by using the nominal stator iron loss resistance and the estimated value of the total system disturbance;

[0017] calculating the initial control input voltage by using the nominal stator iron loss resistance and the current data;

[0018] adding the initial control input voltage and the iron loss compensation voltage as the target control input voltage.

[0019] In one possible implementation, the state space expression of the stator torque current differential model is determined, including at least the iron loss current and the total system disturbance, including:

[0020] performing a disturbance adding operation on the stator shaft current resistance, the stator iron loss resistance, the stator shaft inductance and the rotor permanent magnet flux linkage in the stator torque current differential model after a parameter value fixing operation to obtain a first model;

[0021] adjusting the first model based on the correlation among the iron loss current, the torque current and the stator shaft current to obtain a second model;

[0022] performing a discretization processing on the second model to obtain a third model; the third model includes at least an augmented state variable; the augmented state variable includes the iron loss current, the torque current and the total system disturbance;

[0023] setting the value of the change rate of the total system disturbance and the value of the change rate of the iron loss current in the third model to obtain the state space expression.

[0024] In a possible implementation, the parameter value fixing operation on the stator shaft current resistance, the stator iron loss resistance, the stator shaft inductance, and the rotor permanent magnet flux linkage in the stator torque current differential model comprises:

[0025] The parameter values of the stator shaft current resistance, the stator iron loss resistance, the stator shaft inductance, and the rotor permanent magnet flux linkage in the stator torque current differential model are respectively set as corresponding parameter nominal values.

[0026] In a possible implementation, the estimated value of the iron loss current and the estimated value of the total system disturbance are calculated by using the state space expression, comprising:

[0027] A fourth model considering model estimation error corresponding to the state space expression is determined.

[0028] An iron loss current calculation model used for calculating an estimated system output value of the iron loss current is obtained.

[0029] Based on the fourth model and the iron loss current calculation model, the estimated value of the iron loss current, the estimated value of the torque current, and the estimated value of the total system disturbance are calculated.

[0030] In a possible implementation, based on the fourth model and the iron loss current calculation model, the estimated value of the iron loss current, the estimated value of the torque current, and the estimated value of the total system disturbance are calculated, comprising:

[0031] The fourth model and the iron loss current calculation model are subjected to Kalman optimal estimation operation to obtain the estimated value of the iron loss current, the estimated value of the torque current, and the estimated value of the total system disturbance.

[0032] The second aspect of the application provides a running control device of a permanent magnet synchronous motor, comprising:

[0033] A model acquisition module is configured to acquire a stator torque current differential model of a permanent magnet synchronous motor; the stator torque current differential model is a model considering the influence of iron loss on the running of the permanent magnet synchronous motor;

[0034] An estimated value calculation module is configured to determine a state space expression of the stator torque current differential model, the state space expression at least containing an iron loss current and a total system disturbance, and calculate an estimated value of the iron loss current and an estimated value of the total system disturbance by using the state space expression.

[0035] A voltage determination module is configured to calculate an iron loss compensation voltage according to one of the estimated value of the iron loss current and the estimated value of the total system disturbance, and modify an initial control input voltage by using the iron loss compensation voltage to obtain a target control input voltage.

[0036] a motor control module configured to perform operation control of the permanent magnet synchronous motor using the target control input voltage.

[0037] The third aspect of the present application provides an electronic device comprising at least one processor and a memory connected to the processor, wherein:

[0038] The memory is configured to store a computer program;

[0039] The processor is configured to execute the computer program to enable the electronic device to implement the operation control method of the permanent magnet synchronous motor.

[0040] The fourth aspect of the present application provides a computer storage medium carrying one or more computer programs, which, when executed by an electronic device, enable the electronic device to implement the operation control method of the permanent magnet synchronous motor.

[0041] By means of the above technical solution, the present application provides an operation control method of a permanent magnet synchronous motor and related devices. In the present application, a stator torque current differential model of the permanent magnet synchronous motor is obtained, a state space expression including at least an iron loss current and a system total disturbance corresponding to the stator torque current differential model is determined, an estimated value of the iron loss current and an estimated value of the system total disturbance are calculated using the state space expression, an iron loss compensation voltage is calculated according to one of the estimated value of the iron loss current and the estimated value of the system total disturbance, and the initial control input voltage is modified using the iron loss compensation voltage to obtain the target control input voltage. That is, the present application uses the iron loss compensation voltage to perform voltage compensation on the initial control input voltage, effectively suppresses the generation of iron loss of the permanent magnet synchronous motor, reduces the heat generation of the permanent magnet synchronous motor, avoids the temperature rise caused by the iron loss, thereby avoiding the problem of torque output capability decline caused by the temperature rise, can exert the maximum performance of the permanent magnet synchronous motor, and improves the operation efficiency of the permanent magnet synchronous motor. BRIEF DESCRIPTION OF DRAWINGS

[0042] The above and other features, advantages, and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numerals can refer to the same or similar elements. It should be understood that the drawings are schematic, and the original and elements are not necessarily drawn according to the scale.

[0043] Figure 1 A flowchart of an operation control method of a permanent magnet synchronous motor provided by the present application;

[0044] Figure 2 A flowchart of a method for determining a state space expression provided by the present application;

[0045] Figure 3 A flowchart of a method for calculating an estimate provided in this application;

[0046] Figure 4 A flowchart of a voltage calculation method provided in this application;

[0047] Figure 5 A flowchart of another voltage calculation method provided in this application;

[0048] Figure 6 A schematic diagram of the operation control device for a permanent magnet synchronous motor provided in this application;

[0049] Figure 7 This is a schematic diagram of the structure of an electronic device provided in this application. Detailed Implementation

[0050] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is for explaining specific embodiments only and is not intended to limit the scope of this application.

[0051] The embodiments of this application will now be described with reference to the accompanying drawings. Those skilled in the art will recognize that, with technological advancements and the emergence of new scenarios, the technical solutions provided in the embodiments of this application are equally applicable to similar technical problems.

[0052] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms are interchangeable where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of elements is not necessarily limited to those elements, but may include other elements not explicitly listed or inherent to those processes, methods, products, or apparatuses.

[0053] Due to its advantages such as compact structure, low maintenance cost, and high power density, permanent magnet synchronous motors are increasingly being used in industries such as automotive drives, agricultural machinery, and construction machinery.

[0054] As the speed of permanent magnet synchronous motors (PMSMs) continues to increase, their iron losses also increase. This increased iron loss leads to a rapid temperature rise, which in turn causes a continuous decrease in torque output and system efficiency. Therefore, reducing the iron loss of PMSMs, maximizing their performance, and improving their operating efficiency has become a pressing issue for those skilled in the art.

[0055] Therefore, in this application, to maximize the performance of the permanent magnet synchronous motor (PMSM) and improve the operating efficiency of the PMSM control system, the stator torque current differential model of the PMSM is obtained. A state-space expression corresponding to this model, containing at least the iron loss current and the total system disturbance, is determined. Using this state-space expression, estimates of the iron loss current and the total system disturbance are calculated. Based on one of these estimates, an iron loss compensation voltage is calculated. This compensation voltage is then used to correct the initial control input voltage, yielding the target control input voltage. In other words, this application utilizes the iron loss compensation voltage to perform voltage compensation on the initial control input voltage, effectively suppressing the generation of iron losses in the PMSM, reducing its heat generation, and avoiding temperature rise caused by iron losses. This prevents the decrease in torque output capacity due to temperature rise, thus maximizing the performance of the PMSM and improving its operating efficiency.

[0056] Based on the above, one embodiment of this application provides a method for controlling the operation of a permanent magnet synchronous motor, referring to... Figure 1 It can include:

[0057] S11. Obtain the stator torque current differential model of the permanent magnet synchronous motor.

[0058] Among them, the stator torque current differential model is a model that considers the impact of iron loss on the operation of permanent magnet synchronous motor.

[0059] In practical scenarios, considering the impact of iron losses on the operation of permanent magnet synchronous motors (PMSMs), the stator current equation of the PMSM is improved, resulting in a stator torque current differential equation that better simulates the real behavior of PMSMs while considering iron losses. This stator torque current differential equation is the stator torque current differential model of the PMSM in this embodiment. In one implementation, the stator torque current differential model of the PMSM is:

[0060] (1)

[0061] in, and These represent the torque currents along the d-axis and q-axis of the stator, respectively. Represents differentiation operations; and These represent the stator shaft current resistance and the stator iron loss resistance, respectively. and These represent the stator d-axis inductance and the stator q-axis inductance, respectively. and These represent the rotor flux linkage angular velocity and the rotor permanent magnet flux linkage, respectively. and These represent the control input voltages for the stator d-axis and q-axis, respectively.

[0062] In practical applications, due to iron losses, the stator shaft current of a permanent magnet synchronous motor can be expressed as the sum of the torque current and the iron loss current during actual operation. Specifically, the stator d-axis current adopts... express, .in, This represents the d-axis iron loss current. The stator q-axis current uses... express, .in, This represents the q-axis iron loss current.

[0063] S12. Determine the state-space expression corresponding to the stator torque current differential model, which includes at least the iron loss current and the total system disturbance. Using the state-space expression, calculate the estimated value of the iron loss current and the estimated value of the total system disturbance.

[0064] The state-space expression includes formulas for calculating iron loss current, torque current, and total system disturbance. The state-space expression can also be referred to as the mechanistic model of a permanent magnet synchronous motor.

[0065] In this embodiment, a state-space expression containing stator shaft current (the sum of torque current and iron loss current) and total system disturbance is obtained by fixing motor parameters, considering the total system disturbance, and constructing augmented state variables.

[0066] In practice, motor parameter fixing refers to using nominal values ​​instead of actual values ​​for certain motor parameters. These motor parameters may include stator shaft current and resistance. Stator iron loss resistance Stator d-axis inductance Stator q-axis inductor and rotor permanent magnet flux .

[0067] After replacing the actual values ​​of the motor parameters with their nominal values, the difference between the nominal and actual values ​​of the motor parameters due to the parameter fixing operation will manifest as a total system disturbance. Therefore, this application performs a disturbance addition operation after fixing the motor parameters to ensure that the resulting model reflects the actual operation of the permanent magnet synchronous motor.

[0068] After adding the perturbation, augmented state variables are constructed, which include iron loss current, torque current and total system perturbation, thus obtaining a state-space expression containing iron loss current, torque current and total system perturbation.

[0069] After obtaining the state-space expression, an error correction operation can be performed on the state-space expression to obtain the estimated values ​​of iron loss current, torque current, and total system disturbance.

[0070] In this embodiment, the error correction operation can be to correct the model estimation error of the state-space expression, and to correct the error present in the sensor measurement system. The error present in the sensor measurement system refers to the output value of the iron loss current estimation system of the PMSM.

[0071] In practice, based on the idea of ​​Kalman optimal estimation, the model estimation error of the state-space expression and the error of the sensor measurement system are corrected simultaneously to obtain the most realistic stator shaft current and the estimated value of the total system disturbance, specifically the estimated value of iron loss current, torque current and the estimated value of the total system disturbance.

[0072] S13. Calculate the iron loss compensation voltage based on either the estimated value of the iron loss current or the estimated value of the total system disturbance. Use the iron loss compensation voltage to correct the initial control input voltage to obtain the target control input voltage.

[0073] In this embodiment, the iron loss compensation voltage is obtained based on one of the estimated values ​​of the iron loss current of the permanent magnet synchronous motor and the estimated value of the total system disturbance. The initial control input voltage is then compensated using the iron loss compensation voltage, which effectively suppresses the iron loss of the permanent magnet synchronous motor and improves its operating efficiency.

[0074] S14. Use the target control input voltage to control the operation of the permanent magnet synchronous motor.

[0075] In this embodiment, after the target control input voltage is known, it is used as the control quantity of the permanent magnet synchronous motor to perform the operation control operation of the permanent magnet synchronous motor.

[0076] In this embodiment, the stator torque current differential model of the permanent magnet synchronous motor is obtained. A state-space expression corresponding to this model, containing at least the iron loss current and the total system disturbance, is determined. Using this state-space expression, estimates of the iron loss current and the total system disturbance are calculated. Based on either the estimated iron loss current or the estimated total system disturbance, an iron loss compensation voltage is calculated. This compensation voltage is then used to correct the initial control input voltage, resulting in the target control input voltage. In other words, this application utilizes the iron loss compensation voltage to perform voltage compensation on the initial control input voltage, effectively suppressing the generation of iron losses in the permanent magnet synchronous motor, reducing its heat generation, and avoiding temperature rise caused by iron losses. This prevents the decrease in torque output capability due to temperature rise, allowing the permanent magnet synchronous motor to achieve its maximum performance and improving its operating efficiency.

[0077] Based on any of the above embodiments, in one implementation, referencing Figure 2 Determine the state-space expression corresponding to the stator torque current differential model, which includes at least the iron loss current and the total system disturbance. This may include:

[0078] S21. After fixing the parameter values ​​of stator shaft current resistance, stator iron loss resistance, stator shaft inductance and rotor permanent magnet flux linkage in the stator torque current differential model, a disturbance addition operation is performed to obtain the first model.

[0079] Specifically, considering the stator shaft current resistance Stator iron loss resistance Stator d-axis inductance Stator q-axis inductor and rotor permanent magnet flux These parameters change with the system state (i.e., operating conditions), and real-time parameter identification is difficult to meet the needs of practical engineering. To reduce control complexity and meet the needs of practical engineering, this embodiment uses the time-varying stator shaft current and resistance... Stator iron loss resistance Stator d-axis inductance Stator q-axis inductor and rotor permanent magnet flux The parameter values ​​are fixed. In one implementation, the stator shaft current resistance in the stator torque current differential model can be fixed. Stator iron loss resistance Stator d-axis inductance Stator q-axis inductor and rotor permanent magnet flux The parameter values ​​are set to their respective nominal values, i.e., the nominal values ​​are used instead of their real-time values. The nominal values ​​for the permanent magnet synchronous motor are those under rated operating conditions.

[0080] After replacing the actual values ​​of the motor parameters with their nominal values, the difference between the nominal and actual values ​​of the motor parameters due to the parameter fixing operation will manifest as a total system disturbance. Therefore, this application performs a disturbance addition operation after fixing the motor parameters to ensure that the resulting model reflects the actual operation of the permanent magnet synchronous motor.

[0081] Based on the above fixed parameter values, in order to achieve decoupled control of the stator d-axis and q-axis currents and improve the convenience of calculation and control, equation (1) is rewritten as:

[0082] (2)

[0083] in, and These represent the torque currents along the d-axis and q-axis of the stator, respectively. Represents differentiation operations; and These represent the nominal resistance of the stator shaft current and the nominal iron loss resistance of the stator, respectively. and These represent the nominal inductance values ​​of the stator d-axis and q-axis, respectively. and These represent the control input voltages for the d-axis and q-axis of the stator, respectively. and These represent the total system disturbances along the stator d-axis (or stator d-axis current loop) and q-axis (or stator q-axis current loop), respectively, where the rotor nominal permanent magnet flux linkage is... Configured in middle.

[0084] It should be noted that formula (2) is the first model in the embodiments of this application.

[0085] S22. Based on the correlation between iron loss current, torque current and stator shaft current, the first model is adjusted to obtain the second model.

[0086] In this embodiment, the relationship between iron loss current, torque current, and stator shaft current refers to:

[0087] The stator shaft current is the sum of the torque current and the iron loss current.

[0088] Based on the principle that the stator shaft current is the sum of the torque current and the iron loss current, in order to estimate the iron loss current of the stator d-axis and q-axis as well as the total system disturbance, the first model is modified as follows:

[0089] (3-1)

[0090] (3-2) (3)

[0091] in, and These represent the torque currents along the d-axis and q-axis of the stator, respectively. and These represent the total system disturbances along the d-axis and q-axis of the stator, respectively. and These represent the d-axis iron loss current and the q-axis iron loss current, respectively. and These represent the nominal resistance of the stator shaft current and the nominal iron loss resistance of the stator, respectively. and These represent the nominal inductance values ​​of the stator d-axis and q-axis, respectively. and These represent the control input voltages for the d-axis and q-axis of the stator, respectively. and These represent the total system disturbance along the d-axis of the stator, respectively. rate of change and d-axis iron loss current The rate of change; and These represent the total system disturbance along the stator q-axis, respectively. rate of change and q-axis iron loss current The rate of change.

[0092] It should be noted that formula (3) is the second model in the embodiments of this application.

[0093] S23. Discretize the second model to obtain the third model.

[0094] The third model includes at least augmented state variables, which include iron loss current, torque current, and total system disturbance.

[0095] Discretizing the second model yields:

[0096] (4-1)

[0097] (4-2) (4)

[0098] in, express The augmented state variables of the stator d-axis at time t, where, and They represent The torque current and iron loss current of the stator d-axis at constant time. express The total system disturbance along the stator d-axis at any given moment; express The augmented state variables of the stator d-axis at time t, where, and They represent The torque current and iron loss current of the stator d-axis at constant time. yes The total system disturbance along the stator d-axis at any given moment; and These represent the nominal resistance of the stator shaft current and the nominal iron loss resistance of the stator, respectively. and These represent the nominal inductance values ​​of the stator d-axis and q-axis, respectively. Indicates the current loop control period; express The control input voltage of the stator d-axis at any given time; and These represent the total system disturbance along the d-axis of the stator, respectively. rate of change and d-axis iron loss current The rate of change; This represents the control input voltage coefficient matrix of the stator d-axis; This represents the coefficient matrix of the state variables along the d-axis of the stator. express The augmented state variables of the stator q-axis at time t, where, and They represent The torque current and iron loss current of the stator q-axis at constant time. yes The total system disturbance along the stator q-axis at any given moment; express The augmented state variables of the stator q-axis at time t, where, and They represent The torque current and iron loss current of the stator q-axis at constant time. yes The total system disturbance along the stator q-axis at any given moment; express The control input voltage of the stator q-axis at any given time; This represents the control input voltage coefficient matrix of the stator q-axis; This represents the coefficient matrix of the state variables along the q-axis of the stator. and These represent the total system disturbance along the stator q-axis, respectively. rate of change and q-axis iron loss current The rate of change.

[0099] It should be noted that formula (4) is the third model in the embodiments of this application.

[0100] S24. Set the values ​​of the rate of change of the total system disturbance and the rate of change of the iron loss current in the third model to obtain the state-space expression.

[0101] In practical implementation, due to the current loop control period of the permanent magnet synchronous motor... Typically very small, the embodiments of this application assume that within the same current loop control cycle Inside, The third model can be rewritten as:

[0102] (5-1)

[0103] (5-2) (5)

[0104] It should be noted that formula (5) is the state space expression in the embodiment of this application. Please refer to the above description for the meaning of the letters in the state space expression.

[0105] In this embodiment, a state-space expression containing stator shaft current and total system disturbance is obtained by fixing motor parameters, considering total disturbance, and constructing augmented state variables, thereby improving the accuracy of the determination of the state-space expression.

[0106] Based on any of the above embodiments, refer to Figure 3 Using state-space expressions, estimates of iron loss current and total system disturbance are calculated, including:

[0107] S31. Determine the fourth model corresponding to the state-space expression, taking into account the model estimation error.

[0108] Specifically, in order to facilitate the estimation of the iron loss current of the permanent magnet synchronous motor using the Kalman optimal estimation method, this embodiment rewrites method (5) as follows:

[0109] (6-1)

[0110] (6-2) (6)

[0111] in, and They represent The model estimation error of the stator d-axis and q-axis at any given time is the error between the state-space expression used to characterize the operation process of the permanent magnet synchronous motor and the actual operation process. and They respectively satisfy the expectation of 0, and the covariances are respectively and It follows a normal distribution.

[0112] It should be noted that formula (6) is the fourth model in the embodiments of this application.

[0113] S32. Obtain the iron loss current calculation model used to calculate the output value of the iron loss current estimation system.

[0114] In specific implementation, a calculation model for the iron loss current is configured to calculate the output value of the iron loss current estimation system. The iron loss current calculation model for PMSM is defined as follows:

[0115] (7-1)

[0116] (7-2) (7)

[0117] in, and These represent the d-axis output value and q-axis output value of the iron loss current estimation system, respectively. and These represent the output matrices for the stator's d-axis and q-axis, respectively. , ,in, and These represent the first system output coefficient and the second system output coefficient on the d-axis, respectively. and These represent the first system output coefficient and the second system output coefficient on the q-axis, respectively. , , and The specific value needs to be determined based on different operating conditions. To ensure the system's estimation accuracy, it must meet the following requirements. . and They represent Augmented state variables of the stator d-axis and q-axis at time points.

[0118] S33. Based on the fourth model and the iron loss current calculation model, the estimated values ​​of iron loss current, torque current and total system disturbance are calculated.

[0119] Specifically, calculations can be performed on the fourth model and the iron loss current calculation model to obtain estimated values ​​for iron loss current, torque current, and total system disturbance.

[0120] In one implementation, Kalman optimal estimation can be performed on the fourth model and the iron loss current calculation model to obtain the estimated values ​​of iron loss current, torque current, and total system disturbance.

[0121] Specifically, Kalman optimal estimation is performed on the fourth model and the iron loss current calculation model to obtain... The formula for estimating the system state variables at time t is as follows:

[0122] (8-1)

[0123] (8-2) (8)

[0124] in, and They represent Augmented state variables of the stator d-axis at time 1 The estimated values ​​and the augmented state variables along the q-axis The estimated value, of which, yes The estimated value, yes The estimated value, yes The estimated value, yes The estimated value, yes The estimated value, yes The estimated value. and These represent the state variable coefficient matrices for the stator's d-axis and q-axis, respectively. and They represent Augmented state variables of the stator d-axis at time 1 The estimated values ​​and the augmented state variables along the q-axis The estimated value; and These represent the control input voltage coefficient matrices for the stator d-axis and q-axis, respectively. and They represent The control input voltages of the stator d-axis and q-axis at constant time; and They represent Gain coefficients of the stator d-axis and q-axis at time points; and They represent The stator d-axis current and stator q-axis current at time t; and These represent the first system output coefficients along the d-axis and the first system output coefficients along the q-axis, respectively. and They represent The stator torque current along the d-axis and q-axis at time t; and These represent the second system output coefficients on the d-axis and q-axis, respectively; and They represent Iron loss currents of the stator d-axis and q-axis at constant time; and They represent The covariance matrix of the model estimation errors of the stator d-axis and q-axis at time t; and These represent the output matrices of the stator's d-axis and q-axis, respectively. and Let each represent the covariance; and They represent The covariance matrix of the model estimation errors of the stator d-axis and q-axis at time t; This represents a 3×3 identity matrix.

[0125] The estimated values ​​of iron loss current, torque current and total system disturbance can be calculated using formula (8), thus achieving accurate estimation of torque current, iron loss current and total system disturbance of the dq axis without increasing hardware costs.

[0126] Based on any of the above embodiments, in another implementation of this application, refer to Figure 4 Based on either the estimated value of the iron loss current or the estimated value of the total system disturbance, the iron loss compensation voltage is calculated. Using this compensation voltage, the initial control input voltage is corrected to obtain the target control input voltage, which may include:

[0127] S41. Construct a matrix that includes the negative of the nominal iron loss resistance of the stator.

[0128] In practical implementation, the matrix containing the negative of the stator nominal iron loss resistance is constructed as follows:

[0129] ;

[0130] in, The stator nominal iron loss resistance is introduced in this embodiment of the application to account for the impact of iron loss on the voltage of the permanent magnet synchronous motor. Perform voltage calculations.

[0131] S42. The product of the matrix and the estimated value of the iron loss current is used as the iron loss compensation voltage.

[0132] In this embodiment, the calculation method for the iron loss compensation voltage of the permanent magnet synchronous motor is shown in formula (9):

[0133] (9)

[0134] in, and They represent Iron loss compensation voltages of the stator d-axis and q-axis at constant time. This indicates the nominal iron loss resistance of the stator. yes The estimated value, yes The estimated value.

[0135] S43. Obtain the initial control input voltage.

[0136] The initial control input voltage is adopted. and It means that, among them, and They represent The initial control input voltages of the stator d-axis and q-axis at each moment. and for The control input voltages of the stator d-axis and q-axis are determined using conventional methods at all times.

[0137] S44. The sum of the initial control input voltage and the iron loss compensation voltage is used as the target control input voltage.

[0138] In this embodiment, after obtaining the iron loss compensation voltage of the permanent magnet synchronous motor, the calculation formula for the target control input voltage of the permanent magnet synchronous motor is as follows:

[0139] (10)

[0140] in, The target control input voltages for the stator d-axis and q-axis at any given time are as described above. and This indicates that the meanings of the remaining parameters are as explained above. Other times... and ,like and , and The calculation process is similar.

[0141] In this embodiment, the iron loss compensation voltage is calculated using the estimated value of the iron loss current. This compensation voltage is then used to compensate for the initial control input voltage, resulting in the target control input voltage. By using the iron loss compensation voltage, the generation of iron losses in the permanent magnet synchronous motor is effectively suppressed, reducing the iron loss current and heat generation, thus improving the operating efficiency of the permanent magnet synchronous motor.

[0142] In another implementation of this application, the iron loss compensation voltage is determined using an estimate of the total system disturbance. In this case, refer to... Figure 5 Based on either the estimated value of the iron loss current or the estimated value of the total system disturbance, the iron loss compensation voltage is calculated. Using this compensation voltage, the initial control input voltage is corrected to obtain the target control input voltage, which may include:

[0143] S51. Calculate the iron loss compensation voltage using the stator nominal iron loss resistance and the estimated value of the total system disturbance.

[0144] In this embodiment, the formula for calculating the iron loss compensation voltage is:

[0145] ;

[0146] in, and They represent Iron loss compensation voltages of the stator d-axis and q-axis at constant time; and These represent the nominal resistance of the stator shaft current and the nominal iron loss resistance of the stator, respectively. and These represent the nominal inductance values ​​of the stator d-axis and q-axis, respectively. yes The estimated value, yes The estimated value.

[0147] S52. Calculate the initial control input voltage using the stator nominal iron loss resistance and current data.

[0148] Specifically, the initial control input voltage adopts and The formula for calculating the initial control input voltage is as follows:

[0149] (11)

[0150] in, and These represent the nominal inductance values ​​of the stator d-axis and q-axis, respectively. and These represent the nominal resistance of the stator shaft current and the nominal iron loss resistance of the stator, respectively. The control bandwidth of the current loop is typically taken as a fraction of the switching frequency. between; and They represent Requested current values ​​for the stator d-axis and q-axis at any given time; and They represent The torque current of the stator d-axis and q-axis at time t.

[0151] S53. The sum of the initial control input voltage and the iron loss compensation voltage is used as the target control input voltage.

[0152] In this step, the formula for calculating the target control input voltage is:

[0153] (12)

[0154] Please refer to the above explanations for the meanings of the letters in the formula.

[0155] In this embodiment, the iron loss compensation voltage is calculated using the estimated value of the total system disturbance. This iron loss compensation voltage is then used to compensate for the initial control input voltage, resulting in the target control input voltage. By using the iron loss compensation voltage, the generation of iron losses in the permanent magnet synchronous motor is effectively suppressed, reducing the iron loss current, decreasing the heat generation, and improving the operating efficiency of the permanent magnet synchronous motor.

[0156] It should be noted that the above embodiments provide two calculation processes for target control input voltages. In actual scenarios, one can be used or both can be used simultaneously. The one with higher accuracy can be selected as the final target control input voltage, depending on the actual configuration.

[0157] Based on the above embodiments of the operation control method for permanent magnet synchronous motors, another embodiment of this application provides an operation control device for permanent magnet synchronous motors, referring to... Figure 6 It can include:

[0158] Model acquisition module 11 is used to acquire the stator torque current differential model of the permanent magnet synchronous motor; the stator torque current differential model is a model that considers the influence of iron loss on the operation of the permanent magnet synchronous motor;

[0159] The estimation calculation module 12 is used to determine the state-space expression corresponding to the stator torque current differential model, which includes at least the iron loss current and the total system disturbance. Using the state-space expression, the estimated values ​​of the iron loss current and the total system disturbance are calculated.

[0160] The voltage determination module 13 is used to calculate the iron loss compensation voltage based on one of the estimated values ​​of the iron loss current and the total system disturbance, and to use the iron loss compensation voltage to correct the initial control input voltage to obtain the target control input voltage.

[0161] The motor control module 14 is used to control the operation of the permanent magnet synchronous motor using the target control input voltage.

[0162] In one implementation, the voltage determination module 13 includes:

[0163] Construct a submodule to build a matrix that includes the inverse of the stator's nominal iron loss resistance;

[0164] The first voltage determination submodule is used to multiply the matrix by the estimated value of the iron loss current as the iron loss compensation voltage.

[0165] The voltage acquisition submodule is used to acquire the initial control input voltage;

[0166] The second voltage determination submodule is used to take the sum of the initial control input voltage and the iron loss compensation voltage as the target control input voltage.

[0167] In one implementation, the voltage determination module 13 includes:

[0168] The first voltage calculation submodule is used to calculate the iron loss compensation voltage using the stator nominal iron loss resistance and the estimated value of the total system disturbance.

[0169] The second voltage calculation submodule is used to calculate the initial control input voltage using the stator nominal iron loss resistance and current data;

[0170] The third voltage calculation submodule is used to take the sum of the initial control input voltage and the iron loss compensation voltage as the target control input voltage.

[0171] In one implementation, the estimation calculation module 12 includes:

[0172] The data processing submodule is used to fix the parameter values ​​of stator shaft current resistance, stator iron loss resistance, stator shaft inductance and rotor permanent magnet flux linkage in the stator torque current differential model, and then add disturbances to obtain the first model.

[0173] The adjustment submodule is used to adjust the first model based on the correlation between iron loss current, torque current and stator shaft current to obtain the second model;

[0174] The discretization submodule is used to discretize the second model to obtain the third model; the third model includes at least augmented state variables; the augmented state variables include iron loss current, torque current and total system disturbance;

[0175] The configuration submodule is used to set the values ​​of the rate of change of the total system disturbance and the rate of change of the iron loss current in the third model, so as to obtain the state-space expression.

[0176] In one implementation, the data processing submodule includes:

[0177] The parameter processing unit is used to set the parameter values ​​of stator shaft current resistance, stator iron loss resistance, stator shaft inductance, and rotor permanent magnet flux linkage in the stator torque current differential model to their respective nominal values.

[0178] In one implementation, the estimation calculation module 12 includes:

[0179] The model determination submodule is used to determine the fourth model corresponding to the state-space expression, taking into account the model estimation error.

[0180] The model acquisition submodule is used to acquire the iron loss current calculation model used to calculate the output value of the iron loss current estimation system.

[0181] The estimation calculation submodule is used to calculate the estimated values ​​of iron loss current, torque current, and total system disturbance based on the fourth model and the iron loss current calculation model.

[0182] In one implementation, the estimation calculation submodule is specifically used for:

[0183] Kalman optimal estimation was performed on the fourth model and the iron loss current calculation model to obtain estimates of the iron loss current, the torque current, and the total system disturbance.

[0184] In this embodiment, the stator torque current differential model of the permanent magnet synchronous motor is obtained. A state-space expression corresponding to this model, containing at least the iron loss current and the total system disturbance, is determined. Using this state-space expression, estimates of the iron loss current and the total system disturbance are calculated. Based on either the estimated iron loss current or the estimated total system disturbance, an iron loss compensation voltage is calculated. This compensation voltage is then used to correct the initial control input voltage, resulting in the target control input voltage. In other words, this application utilizes the iron loss compensation voltage to perform voltage compensation on the initial control input voltage, effectively suppressing the generation of iron losses in the permanent magnet synchronous motor, reducing its heat generation, and avoiding temperature rise caused by iron losses. This prevents the decrease in torque output capability due to temperature rise, allowing the permanent magnet synchronous motor to achieve its maximum performance and improving its operating efficiency.

[0185] It should be noted that the working process of each module, submodule and unit in this embodiment is described in the corresponding description in the above embodiment, and will not be repeated here.

[0186] This application also provides an electronic device, including at least one processor and a memory connected to the processor, wherein:

[0187] Memory is used to store computer programs;

[0188] The processor is used to execute computer programs so that electronic devices can implement the above-described operation control method for permanent magnet synchronous motors.

[0189] refer to Figure 7 The diagram illustrates a structural schematic suitable for implementing the electronic device in the embodiments of this application. The electronic device in the embodiments of this application may include, but is not limited to, fixed terminals such as mobile phones, laptops, PDAs (personal digital assistants), PADs (tablet computers), desktop computers, etc. Figure 7 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0190] like Figure 7 As shown, the electronic device may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage device 608 into a random access memory (RAM) 603. When the electronic device is powered on, the RAM 603 also stores various programs and data required for the operation of the electronic device. The processing unit 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0191] Typically, the following devices can be connected to I / O interface 605: input devices 606 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 607 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 608 including, for example, memory cards, hard drives, etc.; and communication devices 609. Communication device 609 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 7 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have alternatively.

[0192] This application also provides a computer program product including computer-readable instructions, which, when executed on an electronic device, cause the electronic device to implement any of the permanent magnet synchronous motor operation control methods provided in this application.

[0193] This application also provides a computer storage medium that carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement any of the permanent magnet synchronous motor operation control methods provided in this application.

[0194] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. In addition, in the accompanying drawings of the device embodiments provided in this application, the connection relationship between modules indicates that they have a communication connection, which can be implemented as one or more communication buses or signal lines.

[0195] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware, or it can be implemented by special-purpose hardware including application-specific integrated circuits, special-purpose CPUs, special-purpose memory, special-purpose components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for this application, software program implementation is more often the preferred implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk, or optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, training equipment, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0196] In the above embodiments, the implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, in the form of a computer program product.

[0197] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, training device, or data center to another website, computer, training device, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives (SSDs)).

Claims

1. A method for controlling the operation of a permanent magnet synchronous motor, characterized in that, include: Obtain the stator torque current differential model of the permanent magnet synchronous motor; the stator torque current differential model is a model that considers the influence of iron loss on the operation of the permanent magnet synchronous motor; Determine the state-space expression corresponding to the stator torque current differential model, which includes at least the iron loss current and the total system disturbance. Using the state-space expression, calculate the estimated values ​​of the iron loss current and the total system disturbance. Calculate the iron loss compensation voltage based on one of the estimated values ​​of the iron loss current and the total system disturbance. Use the iron loss compensation voltage to correct the initial control input voltage to obtain the target control input voltage. The operation control of the permanent magnet synchronous motor is performed using the target control input voltage.

2. The operation control method for a permanent magnet synchronous motor according to claim 1, characterized in that, Based on one of the estimated values ​​of the iron loss current and the total system disturbance, the iron loss compensation voltage is calculated. Using this iron loss compensation voltage, the initial control input voltage is corrected to obtain the target control input voltage, including: Construct a matrix that includes the negative of the stator nominal iron loss resistance; The product of the matrix and the estimated value of the iron loss current is used as the iron loss compensation voltage; Obtain the initial control input voltage; The sum of the initial control input voltage and the iron loss compensation voltage is taken as the target control input voltage.

3. The operation control method for a permanent magnet synchronous motor according to claim 1, characterized in that, Based on one of the estimated values ​​of the iron loss current and the total system disturbance, the iron loss compensation voltage is calculated. Using this iron loss compensation voltage, the initial control input voltage is corrected to obtain the target control input voltage, including: The iron loss compensation voltage is calculated using the stator nominal iron loss resistance and the estimated value of the total system disturbance. The initial control input voltage is calculated using the stator nominal iron loss resistance and current data. The sum of the initial control input voltage and the iron loss compensation voltage is taken as the target control input voltage.

4. The operation control method for a permanent magnet synchronous motor according to claim 1, characterized in that, Determine the state-space expression corresponding to the stator torque current differential model, which includes at least the iron loss current and the total system disturbance, including: After fixing the parameter values ​​of stator shaft current resistance, stator iron loss resistance, stator shaft inductance and rotor permanent magnet flux linkage in the stator torque current differential model, a perturbation addition operation is performed to obtain the first model. Based on the correlation between iron loss current, torque current and stator shaft current, the first model is adjusted to obtain the second model; The second model is discretized to obtain a third model; the third model includes at least augmented state variables; the augmented state variables include iron loss current, torque current and total system disturbance. By setting the values ​​of the rate of change of the total system disturbance and the rate of change of the iron loss current in the third model, the state-space expression is obtained.

5. The operation control method for a permanent magnet synchronous motor according to claim 4, characterized in that, The parameters of the stator shaft current resistance, stator iron loss resistance, stator shaft inductance, and rotor permanent magnet flux linkage in the stator torque current differential model are fixed, including: The parameter values ​​of stator shaft current resistance, stator iron loss resistance, stator shaft inductance, and rotor permanent magnet flux linkage in the stator torque current differential model are respectively set to their corresponding nominal values.

6. The operation control method for a permanent magnet synchronous motor according to claim 1, characterized in that, Using the state-space expression, estimates of the iron loss current and the total system disturbance are calculated, including: Determine the fourth model corresponding to the state-space expression, taking into account the model estimation error; Obtain the iron loss current calculation model used to calculate the output value of the iron loss current estimation system; Based on the fourth model and the iron loss current calculation model, the estimated values ​​of iron loss current, torque current, and total system disturbance are calculated.

7. The operation control method for a permanent magnet synchronous motor according to claim 6, characterized in that, Based on the fourth model and the iron loss current calculation model, the estimated values ​​of iron loss current, torque current, and total system disturbance are calculated, including: Kalman optimal estimation is performed on the fourth model and the iron loss current calculation model to obtain the estimated values ​​of iron loss current, torque current and total system disturbance.

8. A control device for the operation of a permanent magnet synchronous motor, characterized in that, include: The model acquisition module is used to acquire the stator torque current differential model of the permanent magnet synchronous motor; the stator torque current differential model is a model that considers the influence of iron loss on the operation of the permanent magnet synchronous motor. The estimation calculation module is used to determine the state-space expression corresponding to the stator torque current differential model, which includes at least the iron loss current and the total system disturbance. Using the state-space expression, the estimated values ​​of the iron loss current and the total system disturbance are calculated. The voltage determination module is used to calculate the iron loss compensation voltage based on one of the estimated value of the iron loss current and the estimated value of the total system disturbance, and to use the iron loss compensation voltage to correct the initial control input voltage to obtain the target control input voltage. The motor control module is used to control the operation of the permanent magnet synchronous motor using the target control input voltage.

9. An electronic device, characterized in that, It includes at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is used to execute the computer program so that the electronic device can implement the operation control method of the permanent magnet synchronous motor as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that, The computer storage medium carries one or more computer programs, which, when executed by an electronic device, enable the electronic device to implement the operation control method for a permanent magnet synchronous motor as described in any one of claims 1 to 7.

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