Permanent magnet synchronous motor position intelligent prediction method based on dead-beat high-frequency square wave injection

Abstract

The application relates to a kind of permanent magnet synchronous motor position intelligent prediction methods of zero beat high-frequency square wave injection.The method comprises: under the condition of high-frequency square wave injection, the voltage equation corresponding to permanent magnet synchronous motor is discretely processed, the current component of current beat is obtained and the predicted current component of next beat is obtained;The measured current component and the predicted current component are analyzed to obtain the high-frequency increment of adjacent beat, the measured current component of current beat and the high-frequency increment of adjacent beat are subjected to difference operation, and the high-frequency current component of current beat is obtained;According to the high-frequency square wave and the high-frequency current component of current beat, the high-frequency equivalent network corresponding to the voltage equation is constructed and coordinate conversion is carried out, and the angle correlation of the high-frequency current component of current beat and the electrical angle error is obtained;According to the angle correlation, the electrical angle error is compensated, and the predicted value of next beat is derived.The method can improve the position prediction accuracy and system operation stability of permanent magnet synchronous motor.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, in particular to a position intelligent prediction method of permanent magnet synchronous motor based on no beat high frequency square wave injection. BACKGROUND

[0002] In the technical field of motor control, the rotor information is demodulated by injecting high frequency signal from outside to stimulate high frequency current response containing rotor position information. In the related signal injection method, the rotor position error is calculated based on the last beat current sample value, which makes the position observation response delayed for at least one control period, thereby amplifying the influence of inverter nonlinearity and noise on the demodulation result, and seriously affecting the position observation accuracy and system stability of permanent magnet synchronous motor under the condition of no position sensor. SUMMARY

[0003] Therefore, it is necessary to provide a position intelligent prediction method of permanent magnet synchronous motor based on no beat high frequency square wave injection aiming at the above technical problems.

[0004] In the first aspect, the present application provides a position intelligent prediction method of permanent magnet synchronous motor based on no beat high frequency square wave injection, comprising:

[0005] Discretizing the voltage equation corresponding to the preset permanent magnet synchronous motor under the condition of preset high frequency square wave injection, to obtain the measured current component of the current beat and the predicted current component of the next beat corresponding to the discrete equation structure;

[0006] Incrementally analyzing the measured current component of the current beat and the predicted current component of the next beat to obtain the high frequency increment of adjacent beats, and differentiating the measured current component of the current beat and the high frequency increment of adjacent beats to obtain the high frequency current component of the current beat;

[0007] Constructing the high frequency equivalent network corresponding to the voltage equation according to the preset high frequency square wave and the high frequency current component of the current beat, and performing coordinate transformation on the high frequency equivalent network to obtain the angle correlation between the high frequency current component of the current beat and the electrical angle error;

[0008] According to the angle correlation, the electrical angle error is phase compensated, and the electrical angle prediction value of the next beat is derived to be used for intelligent prediction of the electrical angle position of the permanent magnet synchronous motor based on no beat high frequency square wave in the next beat.

[0009] In the second aspect, the present application further provides a position intelligent prediction system of permanent magnet synchronous motor based on no beat high frequency square wave injection, comprising:

[0010] a discrete processing module configured to discretize a voltage equation corresponding to a preset permanent magnet synchronous motor under a preset condition of high-frequency square wave injection to obtain a current component of a current cycle and a predicted current component of a next cycle corresponding to a discrete equation structure;

[0011] a high-frequency analysis module configured to perform incremental analysis on the current component of the current cycle and the predicted current component of the next cycle to obtain a high-frequency increment of an adjacent cycle, perform difference operation on the current component of the current cycle and the high-frequency increment of the adjacent cycle to obtain a high-frequency current component of the current cycle;

[0012] an angle analysis module configured to construct a high-frequency equivalent network corresponding to the voltage equation according to the preset high-frequency square wave and the high-frequency current component of the current cycle, perform coordinate conversion on the high-frequency equivalent network to obtain an angle correlation between the high-frequency current component of the current cycle and an electrical angle error;

[0013] a compensation module configured to perform phase compensation on the electrical angle error according to the angle correlation and derive a predicted value of the electrical angle of the next cycle for intelligent prediction of an electrical angle position of the permanent magnet synchronous motor based on the high-frequency square wave without the current cycle in the next cycle.

[0014] In a third aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the above steps when executing the computer program.

[0015] In a fourth aspect, the present application further provides a computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the above steps.

[0016] The position intelligent prediction method, system, computer device and computer readable storage medium of the above-mentioned dead-beat high-frequency square wave injection permanent magnet synchronous motor, first, the voltage equation of the permanent magnet synchronous motor is discretized and deduced, so that the corresponding relationship between the current of the current beat and the next beat is obtained without relying on continuous modeling, providing a discretization basis for high-frequency response prediction; secondly, the current components of the current beat and the next beat are analyzed by increment and difference, so that the current change characteristics of the permanent magnet synchronous motor under the condition of high-frequency square wave injection are extracted as high-frequency current components, and the interference of low-frequency steady-state components is eliminated; then, the high-frequency equivalent network is constructed according to the high-frequency square wave and the high-frequency current component and the coordinate transformation is carried out, so that the angle correlation between the high-frequency current and the electrical angle error is established, and the constraint condition for angle compensation calculation is provided; finally, the phase compensation of the high-frequency current component is carried out according to the angle correlation, so that the electrical angle prediction value consistent with the time sequence of the digital control system is obtained; based on this, in the whole technical scheme, through the layer-by-layer logic of discrete structure modeling, high-frequency component extraction, angle relationship modeling and angle phase compensation, the electrical angle prediction has low delay and high dynamic consistency, so as to effectively eliminate the phase lag caused by discrete delay under the condition of no position sensor, and has the characteristics of fast response of dead-beat control and high-precision observation of high-frequency injection, so as to significantly improve the position prediction accuracy and system running stability of the permanent magnet synchronous motor. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments or the related art, the drawings needed to be used in the embodiments or the related art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creating labor.

[0018] Figure 1 A flowchart of a dead-beat high-frequency square wave injection permanent magnet synchronous motor position intelligent prediction method in an embodiment;

[0019] Figure 2 A space vector diagram of a permanent magnet synchronous motor in different coordinate systems in an embodiment;

[0020] Figure 3 A timing diagram of dead-beat prediction under high-frequency square wave injection condition in an embodiment;

[0021] Figure 4 A system control block diagram of dead-beat prediction under high-frequency square wave injection condition in an embodiment;

[0022] Figure 5 A structure block diagram of a dead-beat high-frequency square wave injection permanent magnet synchronous motor position intelligent prediction system in an embodiment. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0024] In one embodiment, as shown in Figure 1 A method for intelligent prediction of permanent magnet synchronous motor position with zero-error high-frequency square wave injection is provided. The method is applied to a server in this embodiment. It should be understood that the method can also be applied to a terminal and can also be applied to a system including a terminal and a server and can be realized through the interaction of the terminal and the server. The method includes the following steps S101 to S104.

[0025] In step S101, under the condition of pre-set high-frequency square wave injection, the voltage equation corresponding to the pre-set permanent magnet synchronous motor is discretely processed to obtain the current component of the current beat and the predicted current component of the next beat corresponding to the discrete equation structure.

[0026] For example, first, based on the voltage equation of the permanent magnet synchronous motor, the differential form in the continuous time domain is discretized by the sampling period to construct a discrete equation structure that meets the characteristics of the digital control system. Specifically, in the discretization process, for the dynamic relationship between the stator voltage and the current, the current rate of change term is discretely approximated by the Euler forward method, so that the change of the current between the adjacent two sampling periods is determined by the inductance, resistance and angular velocity parameters of the permanent magnet synchronous motor. In addition, in order to ensure that the discrete equation structure still maintains analytical stability under the condition of high-frequency injection, a high-frequency square wave voltage is introduced as an excitation term in the discretization process, so that the immediate response of the current to the voltage disturbance can be reflected in each sampling period.

[0027] Subsequently, according to the sampled current component of the current beat and the driving voltage component of the current beat, the predicted current component of the next beat is calculated by the discrete equation structure; at the same time, according to the sampled current component of the last beat and the driving voltage component of the last beat, the discrete equation structure presents the measured current component of the current beat.

[0028] Based on this, through this discretization modeling method, the change rule of the motor current between different sampling periods can be expressed in the form of time series without relying on continuous differentiation, thereby providing a quantitative calculation basis for subsequent high-frequency response increment analysis.

[0029] Step S102, the current measured current component and the next beat of the predicted current component are analyzed by increment, and the high-frequency increment of the adjacent beat is obtained. The current measured current component and the high-frequency increment of the adjacent beat are subjected to difference operation, and the high-frequency current component of the current beat is obtained.

[0030] Exemplarily, firstly, the current measured current component of the current beat and the predicted current component of the next beat obtained in the foregoing steps are subjected to increment analysis under the condition of time index alignment, so as to obtain the current change amount between the adjacent beats. Specifically, the current change amount is used to represent the dynamic response characteristic of the current changing with the sampling period under the condition of high-frequency square wave injection, and can reflect the response sensitivity of the digital control system under the action of high-frequency disturbance. Subsequently, the obtained current change amount is combined with the corresponding voltage excitation difference, and the increment mapping relationship between the current and the voltage in the high-frequency interval is established, and the high-frequency increment set between the adjacent beats is obtained accordingly.

[0031] In addition, in order to further extract the pure high-frequency response component from the high-frequency increment set, the current measured current component and the high-frequency increment of the adjacent beat are subjected to difference operation, so as to eliminate the residual low-frequency steady-state component in the high-frequency increment and highlight the transient change caused by the high-frequency injection. Finally, by time alignment and filtering of the difference processed signal, the high-frequency current component of the current beat is obtained, which reflects the true instantaneous response characteristic of the permanent magnet synchronous motor under the condition of high-frequency square wave injection.

[0032] Based on this, the processing process makes the extraction of high-frequency current not need additional high-order differential operation by means of adjacent sampling difference, and keeps synchronization with the sampling period in the calculation process, so as to realize real-time and continuous recursion in the digital control system.

[0033] Step S103, constructing a high-frequency equivalent network corresponding to the voltage equation according to the preset high-frequency square wave and the high-frequency current component of the current beat, and performing coordinate transformation on the high-frequency equivalent network to obtain the angle correlation between the high-frequency current component of the current beat and the electrical angle error.

[0034] Exemplarily, firstly, a high-frequency equivalent network corresponding to the voltage equation is constructed according to the preset high-frequency square wave and the high-frequency current component of the current beat. Specifically, in the construction process, the stator resistance voltage drop and the counter electromotive force item in the voltage equation of the permanent magnet synchronous motor are regarded as low-frequency components and are ignored, and only the dominant effect of inductance item on high-frequency change is reserved, so that the digital control system can be approximately regarded as a linear inductance network under the condition of high-frequency square wave injection. Then, on the basis of the high-frequency equivalent network, the high-frequency current component of the current beat is taken as the input and the high-frequency voltage component is taken as the output, the linear coupling relationship between the two parameters is established, and the algebraic expression reflecting the high-frequency response characteristic is formed.

[0035] Subsequently, in order to associate the current change with the electrical angle deviation, a rotation coordinate system conversion operation is introduced in the constructed high-frequency equivalent network to convert the high-frequency equivalent network from the real rotation coordinate system to the estimated rotation coordinate system based on the estimated angle, so that a coupling term related to the angle error appears in the high-frequency current component.

[0036] Based on this, through the coordinate transformation, the functional relationship between the electrical angle error and the high-frequency current component can be explicitly expressed in algebraic form, thereby obtaining the angle association relationship between the high-frequency current component of the current beat and the electrical angle error, and providing an analytical basis for subsequent angle compensation and prediction.

[0037] Step S104, according to the angle association relationship, the phase compensation of the electrical angle error is carried out, and the electrical angle prediction value of the next beat is derived to be used for the intelligent prediction of the electrical angle position of the permanent magnet synchronous motor based on the beatless high-frequency square wave in the next beat.

[0038] Exemplarily, first, according to the angle association relationship determined in the foregoing steps, and combining the discrete delay characteristics of the digital control system, the difference operation is carried out on the high-frequency current component of the current beat and the measured current component of the last beat, to obtain the compensated error electrical angle. The compensated error electrical angle reflects the dynamic phase correction result of the digital control system under the condition of one beat delay, and can make the high-frequency current response phase consistent with the time reference of the digital control system.

[0039] Subsequently, according to the compensated error electrical angle, an electrical angle prediction equation containing a phase correction term is derived in the discrete time domain to reflect the electrical angle change rule of the current beat. Finally, the electrical angle prediction value of the next beat is output according to the electrical angle prediction equation, which is used as the electrical angle position reference of the next sampling period to realize the intelligent recursive prediction of the electrical angle position under the condition of beatless high-frequency square wave injection.

[0040] In this embodiment, in step S101, the current shot and the next shot current corresponding relationship is obtained without relying on continuous modeling by discretizing derivation according to the voltage equation of the permanent magnet synchronous motor, thereby providing a discretization basis for high frequency response prediction; in step S102, the current component of the current shot and the next shot is analyzed by increment and difference, thereby extracting the current change characteristics of the permanent magnet synchronous motor under the condition of high frequency square wave injection as high frequency current component, and eliminating the interference of low frequency steady state component; in step S103, the high frequency equivalent network is constructed according to the high frequency square wave and the high frequency current component and the coordinate transformation is carried out, thereby establishing the angle correlation between the high frequency current and the electrical angle error, and providing the constraint condition for angle compensation calculation; in step S104, the phase compensation is carried out on the high frequency current component according to the angle correlation, thereby obtaining the electrical angle prediction value consistent with the timing of the digital control system; based on this, in the whole technical scheme, through the layer-by-layer logic of discrete structure modeling, high frequency component extraction, angle relationship modeling and angle phase compensation, the electrical angle prediction has low delay and high dynamic consistency, thereby effectively eliminating the phase lag caused by discrete delay under the condition of no position sensor, and having the fast response of no difference shot control and the high precision observation characteristics of high frequency injection, so as to significantly improve the position prediction accuracy and system running stability of the permanent magnet synchronous motor.

[0041] In one exemplary embodiment, under the condition of preset high frequency square wave injection, the voltage equation corresponding to the preset permanent magnet synchronous motor is discretely processed to obtain the measured current component of the current shot and the predicted current component of the next shot corresponding to the discrete equation structure, including steps S201 to S203.

[0042] Step S201, determining the voltage equation of the permanent magnet synchronous motor in the preset rotating coordinate system.

[0043] Exemplarily, the expression of the voltage equation of the permanent magnet synchronous motor in the preset rotating coordinate system can refer to formula (1):

[0044] (1)

[0045] In formula (1), , respectively represent the stator voltage component in the direct axis and the quadrature axis of the rotating coordinate system, , respectively represent the stator current component in the direct axis and the quadrature axis, , respectively represent the equivalent inductance in the direct axis and the quadrature axis, represents the stator resistance, represents the electrical angular velocity, represents the permanent magnet flux linkage.

[0046] In the above formula, the stator voltage component in the direct axis is determined by the stator resistance voltage drop in direct axis , the voltage drop caused by inductance variation , and the current in quadrature axis the coupling term under the rotating magnetic field The stator voltage component in quadrature axis is determined by the stator resistance voltage drop in quadrature axis , the voltage drop caused by inductance variation , the current in direct axis the coupling term under the rotating magnetic field and the back electromotive force term caused by permanent magnet flux linkage .

[0047] It can be seen from the above that the above formula describes the voltage-current relationship of the permanent magnet synchronous motor in the rotating coordinate system, i.e. reflects the distribution rule of the stator voltage among the resistance voltage drop, inductance energy storage variation and angular velocity coupling, so as to embody the dynamic electrical behavior of the permanent magnet synchronous motor in continuous time and provide modeling basis for subsequent discretization prediction.

[0048] In step S202, the forward discretization processing is performed on the voltage equation according to the measured current component of the current shot and the high-frequency square wave injected in the direct axis of the rotating coordinate system, to obtain the predicted current component corresponding to the discrete equation structure and the next shot in the preset estimated direct axis and the preset estimated quadrature axis.

[0049] Exemplarily, the expression of the predicted current component corresponding to the discrete equation structure can refer to formula (2):

[0050] (2)

[0051] In formula (2), , respectively represent the predicted current component in the estimated direct axis and the estimated quadrature axis of the estimated rotating coordinate system of the next shot, , respectively represent the measured current component in the estimated direct axis and the estimated quadrature axis of the current shot, , respectively represent the equivalent inductance in the direct axis and the quadrature axis of the rotating coordinate system, represents the sampling period, represents the stator resistance; , represent the given voltage component in the estimated direct axis and the estimated quadrature axis of the current shot, represents the high-frequency square wave voltage term, , respectively represent the estimated electric angular velocity and the true electric angular velocity of the current shot, represents the permanent magnet flux linkage.

[0052] On the other hand, the predicted current component in the estimated quadrature axis of the next sample is derived from the measured current component in the estimated quadrature axis of the current sample under the comprehensive results of the main voltage drive, the loss compensation, and the magnetic coupling within the sampling period , wherein together constitute the effective voltage input of the estimated quadrature axis, is the resistance loss term, is the direct-axis current coupling term.

[0053] On the other hand, the predicted current component in the estimated quadrature axis of the next sample is derived from the measured current component in the estimated quadrature axis of the current sample under the comprehensive results of the main voltage drive, the loss compensation, and the magnetic coupling within the sampling period , wherein constitutes the effective voltage input of the estimated quadrature axis, is the resistance loss term, is the direct-axis current coupling term, is the counter electromotive force term.

[0054] Based on this, the above formula represents the forward calculation relationship of the current of the permanent magnet synchronous motor in discrete time under the condition of injecting a high-frequency square wave in the direct axis; specifically, by using the forward Euler discrete method, the voltage-current change of the permanent magnet synchronous motor is discretely processed within the sampling period, so that the measured current of the current sample is recursively derived to the predicted current of the next sample through a sample time step; thus, the expression reveals the time evolution law of the current under high-frequency square wave excitation, and provides a discrete time update basis for the high-frequency dynamic response of the motor current.

[0055] In step S203, the measured current components of the previous sample and the current sample and the high-frequency square wave injected in the direct axis of the rotating coordinate system are used to perform forward discrete processing on the time index of the voltage equation, so as to obtain the measured current components of the current sample in the preset estimated direct axis and the preset estimated quadrature axis corresponding to the discrete equation structure.

[0056] (3)

[0057] In formula (3), , respectively represent the measured current components of the current sample in the estimated direct axis and the estimated quadrature axis of the estimated rotating coordinate system, , respectively represent the measured current components of the previous sample in the estimated direct axis and the estimated quadrature axis, , represent the equivalent inductances in the direct and quadrature axes of the rotating coordinate system, respectively, denotes the sampling period, denotes the stator resistance; denotes the given voltage components in the estimated direct and quadrature axes of the previous beat; denotes the sign function, denotes the high-frequency square-wave voltage signal, denotes the amplitude of the high-frequency square wave, denotes the high-frequency square-wave voltage term of the next beat; denote the estimated and real electrical angular velocities of the previous beat, respectively, denotes the permanent magnet flux linkage, denotes the permanent magnet flux linkage.

[0058] In the above formula, on the one hand, the measured current component in the estimated direct axis of the current beat is the comprehensive result of the main voltage drive, the additional voltage excitation, the loss compensation and the magnetic coupling of the measured current component in the estimated direct axis of the previous beat within the sampling period , wherein together constitute the effective voltage input of the estimated direct axis, is the resistance loss term, is the quadrature-axis current coupling term.

[0059] On the other hand, the measured current component in the estimated quadrature axis of the current beat is the comprehensive result of the main voltage drive, the loss compensation, the magnetic coupling and the flux linkage rotation of the measured current component in the estimated quadrature axis of the previous beat within the sampling period , wherein constitutes the effective voltage input of the estimated quadrature axis, is the resistance loss term, is the direct-axis current coupling term, is the back electromotive force term.

[0060] Based on this, the above formula represents the description of the measured change of the current in the manner of time index shift under the same discrete equation structure as formula (2); specifically, by using the forward Euler discrete method, the voltage-current change of the permanent magnet synchronous motor is discretely processed within the sampling period, so that the measured current of the previous beat is presented as the measured current of the current beat through one beat time step, thereby accurately reflecting the current response process under the time index shift in the discrete equation structure, so as to realize the synchronous discrete expression of the current change in the previous beat, the current beat, the next beat and the like in formula (2) and formula (3).

[0061] ​​In this embodiment, in step S201, the coupling relationship between the voltage and the current is determined according to the voltage equation of the permanent magnet synchronous motor in the rotating coordinate system, thereby providing a continuous equation basis for discrete solving; in step S202, the forward Euler discretization is performed on the voltage equation according to the measured current component of the current shot and the high-frequency square wave injection condition, thereby obtaining the predicted current component of the next shot, and realizing the discrete recursion of the current response in the current sampling period; in step S203, the forward Euler discretization is performed on the voltage equation after the time index of the measured current component of the last shot and the current shot is moved backward, thereby realizing the discrete presentation of the current response in the historical sampling period. Based on this, in the entire technical solution, the current response of the permanent magnet synchronous motor obtains the discrete, recursive and time-domain consistent calculation characteristics under the high-frequency square wave injection condition, thereby providing an accurate basis for subsequent high-frequency response extraction.

[0062] In one exemplary embodiment, the measured current component of the current shot and the predicted current component of the next shot are incrementally analyzed to obtain the high-frequency increment of the adjacent shots, including step S301.

[0063] Step S301, under the condition that the angular velocity of the permanent magnet synchronous motor is constant and half of the preset PWM frequency is taken as the injection frequency, the measured current component of the current shot and the predicted current component of the next shot are differentially calculated to obtain the voltage increment and the current increment in the preset estimated direct axis and the preset estimated quadrature axis, as the high-frequency increment of the adjacent shots.

[0064] Exemplarily, on one hand, when the real electric angular velocity of the permanent magnet synchronous motor is constant, the in formula (2) corresponds to the same value as the in formula (3); on the other hand, when half of the preset PWM frequency is taken as the injection frequency, the in formula (2) corresponds to the opposite value of the in formula (3), that is, the square wave polarity between the adjacent sampling points is exactly reversed.

[0065] Based on this, the first-order differential calculation is performed on formula (2) and formula (3) to realize the incremental analysis, that is, the difference between the two formulas is taken, wherein the expression of the obtained high-frequency increment of the adjacent shots can refer to formula (4):

[0066] (4)

[0067] In formula 4, , respectively represent the predicted current component of the next shot in the estimated direct axis and the estimated quadrature axis of the estimated rotating coordinate system, , respectively represent the measured current component of the current shot in the estimated direct axis and the estimated quadrature axis, , These represent the measured current components in the estimated direct axis and estimated quadrature axis of the previous step, respectively. , Let represent the equivalent inductance along the direct and quadrature axes of the rotating coordinate system, respectively. Indicates the sampling period. Indicates stator resistance. This represents the estimated electric angular velocity of the previous beat. This represents the high-frequency square wave voltage term of the current frame.

[0068] Furthermore, , These represent the voltage increments in the estimated direct axis and estimated quadrature axis of adjacent beats, respectively, which are equivalent to the differences between the voltage components of the current beat and the voltage components of the previous beat. , These represent the current increments in the estimated direct axis and estimated quadrature axis of adjacent cycles, respectively, which are equivalent to the differences between the current component of the current cycle and the current component of the previous cycle.

[0069] In the above formula, on the one hand, the predicted current component in the estimated direct axis of the next step... It is the measured current component on the direct axis estimated by the current beat and the previous beat. , The recursive result is formed by combining discrete differences. This recursive process occurs during the sampling period. The internal design integrates the combined effects of main voltage increment, additional voltage excitation, loss compensation, and magnetic coupling. For direct-axis voltage increment, It is twice the high-frequency square wave voltage term. This is the resistance loss term based on the direct-axis current increment. This is a quadrature-axis current coupling term based on the direct-axis current increment.

[0070] On the other hand, the predicted current component in the estimated cross-axis of the next beat It is the measured current component of the estimated intersection axis between the current beat and the previous beat. , The recursive result is formed by combining discrete differences. This recursive process occurs during the sampling period. The internal design integrates the combined effects of main voltage increment, loss compensation, and magnetic coupling. For quadrature axis voltage increment, This is the resistance loss term based on the quadrature-axis current increment. This is a direct-axis current coupling term based on quadrature-axis current increments.

[0071] It can be seen that the above formula describes the discrete current prediction relationship of the permanent magnet synchronous motor under the high-frequency square wave injection condition, which eliminates the continuous time dependence of the flux linkage parameter through the discrete difference form, makes the expression of the high-frequency dynamic response more in line with the actual sampling characteristics, and provides a discretization and flux linkage elimination data basis for the electrical angle prediction of the zero-beat high-frequency response.

[0072] In this embodiment, in step S301, under the condition that the angular velocity of the permanent magnet synchronous motor is constant and half of the preset PWM frequency is taken as the injection frequency, the high-frequency incremental set under the high-frequency square wave injection condition is obtained by differentiating the measured current component of the current beat and the predicted current component of the next beat, so as to reflect the dynamic change of the current between adjacent sampling periods in a discrete form. In the whole technical scheme, the current change relationship in the adjacent sampling period is differentiated and flux linkage-eliminated, so that the high-frequency dynamic response expression is more in line with the discrete characteristics of the digital control system, and the cumulative error and time domain drift of the flux linkage parameter in the high-frequency response derivation process are avoided.

[0073] In one exemplary embodiment, the measured current component of the current beat and the high-frequency increment of the adjacent beat are differentiated to obtain the high-frequency current component of the current beat, including step S401.

[0074] In step S401, the measured current component of the current beat and the high-frequency increment of the adjacent beat are center-differentiated to obtain the high-frequency current component of the current beat in the preset estimated direct axis and the preset estimated quadrature axis.

[0075] Exemplarily, the center-difference operation of formula (4) and formula (3) is performed, that is, half of the difference between the two formulas is taken, wherein the expression of the obtained high-frequency current component can refer to formula (5):

[0076] (5)

[0077] In formula (5), , respectively represent the high-frequency current components of the current beat in the estimated direct axis and the estimated quadrature axis, , respectively represent the current increments of the adjacent beat in the estimated direct axis and the estimated quadrature axis, , respectively represent the voltage increments of the adjacent beat in the estimated direct axis and the estimated quadrature axis, represents the sampling period, represents the stator resistance, represents the estimated electrical angular velocity of the previous beat, represents the high-frequency square wave voltage term of the current beat.

[0078] In the above formula, on the one hand, the high-frequency current component in the current estimate direct axis is the average amount of current change in the direct axis and the main voltage increment, the additional voltage excitation, the loss compensation and the magnetic coupling, wherein, is the direct-axis voltage increment, is a high-frequency square-wave voltage term, is a resistance loss term based on the direct-axis current increment, is a quadrature-axis current coupling term based on the direct-axis current increment.

[0079] On the other hand, the high-frequency current component in the current estimate quadrature axis is the average amount of current change in the quadrature axis and the main voltage increment, the loss compensation and the magnetic coupling, wherein, is the quadrature-axis voltage increment, is a resistance loss term based on the quadrature-axis current increment, is a direct-axis current coupling term based on the quadrature-axis current increment.

[0080] As can be seen, although the flux linkage parameter is not explicitly included in formula (4), the residual low-frequency components such as , are still indirectly related to the flux linkage change. Therefore, in order to further suppress such low-frequency components and extract pure high-frequency dynamic responses, the center difference calculation of formula (4) and formula (3) is needed. This process is essentially a filtering operation, which filters out the slowly changing flux linkage related terms in the center difference of adjacent taps, and only retains the high-frequency components excited by the high-frequency square-wave injection. Formula (5) obtained in this way not only continues the discrete prediction structure of formula (4), but also further eliminates the pseudo-high-frequency interference introduced by the slow change of the flux linkage or the calculation lag, so that the obtained high-frequency current component can more truly reflect the high-frequency response characteristics of the permanent magnet synchronous motor under the condition of high-frequency square-wave injection.

[0081] In this embodiment, in step S401, the high-frequency current component is obtained by performing center difference operation on the measured current component of the current tap and the high-frequency increment of the adjacent tap, that is, the high-frequency response of the voltage and the current is balanced by using the symmetrical structure relationship of two taps, so as to retain the pure high-frequency dynamic component excited by the high-frequency square-wave injection. Based on this, in the whole technical scheme, the residual low-frequency and flux linkage related terms are further filtered out through the center difference structure, so as to ensure that the extracted high-frequency current component has better frequency domain purity and time sequence consistency.

[0082] In an exemplary embodiment, the high-frequency equivalent network corresponding to the voltage equation is constructed according to the preset high-frequency square wave and the high-frequency current component of the current tap, including steps S501 to S502.

[0083] Step S501, under the condition of pre-set high-frequency square wave injection, the resistance voltage drop term and the counter electromotive force term in the voltage equation are ignored, and the high-frequency voltage components generated by the inductance term in the pre-set direct axis and the pre-set quadrature axis are retained.

[0084] Step S502, taking the high-frequency current components in the direct axis and the quadrature axis as input, and taking the high-frequency voltage components in the direct axis and the quadrature axis as output, a linear mapping relationship between the high-frequency current components and the high-frequency voltage components is constructed to obtain the high-frequency equivalent network corresponding to the voltage equation.

[0085] Exemplarily, in formula (1), the electrical angular velocity is small at low speed, and the injection frequency is much higher than the fundamental frequency, so the stator voltage is ignored to simplify formula (1) into formula (6):

[0086] (6)

[0087] In formula (6), , respectively represent the high-frequency voltage components in the direct axis and the quadrature axis, , respectively represent the high-frequency current components in the direct axis and the quadrature axis; , respectively represent the equivalent inductance in the direct axis and the quadrature axis, represents that the high-frequency response is independent in the two-axis directions; represents a time differential operator, which is used to represent the change rate of the high-frequency current component under the condition of high-frequency injection.

[0088] It can be seen that the above formula describes the high-frequency equivalent network relationship of the permanent magnet synchronous motor under the condition of high-frequency square wave injection, that is, the linear mapping relationship between the voltage and the current in the high-frequency interval, and the change of the high-frequency voltage component is completely converted by the change rate of the high-frequency current component through the equivalent inductance, so as to ignore the resistance voltage drop term, the magnetic coupling term and the counter electromotive force term in formula (1); through this equivalent modeling method, the high-frequency electrical behavior of the permanent magnet synchronous motor is decoupled from the low-frequency flux linkage and the resistance effect, which provides a simplified and linear high-frequency response basis for subsequent angle error analysis and electrical angular dynamic estimation.

[0089] In this embodiment, in step S501, according to the structured processing of the voltage equation under the high-frequency square wave injection condition, the resistance voltage drop and the counter electromotive force item are ignored, so that the voltage equation only retains the high-frequency component dominated by the inductance item, the effective elimination of the low-frequency steady-state component is realized, and the high-frequency dynamic relationship is more pure in mathematical expression; in step S502, according to the linear mapping relationship between the high-frequency current component and the high-frequency voltage component, the high-frequency voltage-high-frequency current mapping relationship is established by taking the two-axis equivalent inductance as the intermediate conversion parameter, thereby forming the high-frequency equivalent network which can be used to characterize the high-frequency response of the motor; based on this, in the whole technical scheme, the linearization and decoupling expression of the high-frequency dynamic characteristics of the motor are realized through the simplification of the voltage equation and the construction of the high-frequency equivalent relationship.

[0090] In one exemplary embodiment, the high-frequency equivalent network is subjected to coordinate transformation to obtain the angle correlation relationship between the high-frequency current component of the current beat and the electrical angle error, including steps S601 to S602.

[0091] Step S601 converts the high-frequency equivalent network in the preset rotating coordinate system into a target high-frequency equivalent network in a preset estimated rotating coordinate system.

[0092] Exemplarily, the high-frequency equivalent network in the rotating coordinate system described by formula (6) is subjected to coordinate transformation to obtain the target high-frequency equivalent network in the estimated rotating coordinate system, and the expression thereof can refer to formula (7):

[0093] (7)

[0094] In formula (7), , respectively represent the high-frequency voltage components in the estimated direct axis and the estimated quadrature axis, , respectively represent the high-frequency current components in the estimated direct axis and the estimated quadrature axis, , respectively represent the equivalent inductances in the direct axis and the quadrature axis, represents the electrical angle error, represents the time differential operator.

[0095] The above formula as a whole expresses the process of transforming the high-frequency equivalent network in formula (6) from the real rotating coordinate system to the estimated rotating coordinate system, so that the rate of change of the high-frequency current component and the high-frequency voltage component still satisfy the linear mapping relationship in the estimated rotating coordinate system, but the amplitude and the phase thereof are modulated by the electrical angle error , and thus the transformation process establishes the implicit coupling relationship between the electrical angle error and the high-frequency current change.

[0096] Further, Figure 2The diagram shows the spatial vector diagram of a permanent magnet synchronous motor in different coordinate systems. The α-β coordinate system represents the stationary coordinate system, which is fixed in space with the stator windings to describe the components of stator voltage and current in the stationary space. The dq coordinate system represents the real rotating coordinate system, which rotates with the rotor magnetic poles to reflect the actual electromagnetic energy conversion of the motor. The coordinate system represents the estimated rotating coordinate system, which is calculated by a pre-defined sensorless algorithm or observer for vector decoupling of the control system.

[0097] Furthermore, in A high-frequency square wave voltage signal is injected into the shaft at this time. The angle between the α-axis and the α-axis is the predicted electrical angle. The angle between the d-axis and the α-axis is the true value of the electrical angle. Therefore, the predicted electrical angle value With the true value of electrical angle The difference between them is the electrical angle error. .

[0098] Step S602: In the target high-frequency equivalent network, based on the high-frequency square wave injected in the direct axis of the rotating coordinate system, the high-frequency current component of the current frame is expanded and decomposed to obtain the angular correlation between the high-frequency current component of the current frame and the electrical angle error.

[0099] For example, according to ,as well as ， Simplifying equation (7), we get equation (8):

[0100] (8)

[0101] In equation (8), , These represent the high-frequency current components in the estimation of the direct axis and the estimation of the quadrature axis, respectively. Indicates a high-frequency square wave voltage; This represents the average inductance corresponding to the direct-axis equivalent inductance and the quadrature-axis equivalent inductance. This represents the inductance difference between the direct-axis equivalent inductance and the quadrature-axis equivalent inductance. , Indicates the high-frequency current response as a function of electrical angle error The changing amplitude-phase modulation relationship.

[0102] Therefore, assuming that the high-frequency square wave is injected only into the direct axis, equation (7) can be simplified to obtain an explicit expression for the rate of change of the high-frequency current, namely equation (8). Thus, equation (8) reveals the high-frequency current component under the condition of high-frequency square wave injection. The direct algebraic relationship between the electrical angle error, when the electrical angle error changes, the current amplitude and phase both present periodic modulation law to reflect the angle correlation between the current high-frequency component and the electrical angle error of the current beat.

[0103] In the embodiment, in step S601, the high-frequency equivalent network in the rotating coordinate system is converted to the target high-frequency equivalent network in the estimated rotating coordinate system, thereby explicitly introducing the electrical angle error variable in the mathematical structure, enabling the current response equation to reflect the amplitude and phase modulation characteristics of the high-frequency current component based on the estimated rotating coordinate system; in step S602, under the condition of injecting high-frequency square wave only in the direct axis, the target high-frequency equivalent network is coordinate-expanded and simplified, thereby establishing the mapping relationship between the high-frequency current component and the electrical angle error, and realizing the explicit correlation representation of the electrical angle error to the high-frequency current response.

[0104] In one exemplary embodiment, according to the angle correlation relationship, the electrical angle error is phase-compensated, and the electrical angle prediction value of the next beat is derived, including step S701.

[0105] In step S701, according to the discrete delay characteristics of the digital control system corresponding to the permanent magnet synchronous motor, the high-frequency current component of the current beat and the measured high-frequency current component of the previous beat are differentially calculated in the angle correlation relationship, the compensated electrical angle error is obtained, and the electrical angle prediction value of the current beat is derived.

[0106] Exemplarily, when the expression (8) is sufficiently small, it can be approximated as , thereby obtaining the expression of the error electrical angle

[0107] (9)

[0108] In expression (9), represents the average inductance corresponding to the direct-axis equivalent inductance and the quadrature-axis equivalent inductance, represents the inductance difference value corresponding to the direct-axis equivalent inductance and the quadrature-axis equivalent inductance; represents the high-frequency square wave voltage term, represents the sampling period; represents the actual high-frequency current component of the current beat in the estimated quadrature axis, which is obtained by the center difference operation of the current beat and the previous beat in the estimated quadrature axis; represents the high-frequency current component of the previous beat in the estimated quadrature axis, which is obtained by the center difference operation of the previous beat and the second previous beat in the estimated quadrature axis.

[0109] ​It can be seen that the above formula establishes a direct linear relationship between the electrical angle error and the high-frequency current response, reflecting the coupling law of the differential change of the current and the rotor position deviation of the motor under high-frequency square wave injection; specifically, by differentiating the high-frequency current components of adjacent sampling periods, and using the average value and difference value of the inductance parameter to construct the proportional coefficient, the error electrical angle is derived from the current change.

[0110] Further, due to the inherent discrete delay characteristics of the digital control system, the high-frequency current component at the last beat is obtained from the measured high-frequency current component, so as to obtain the error electrical angle The expression for phase compensation is:

[0111] (10)

[0112] In formula (10), represents the high-frequency current component in the estimated quadrature axis of the current beat, which is obtained by center difference operation of the current components in the estimated quadrature axis of the next beat and the current beat; represents the high-frequency current component in the estimated quadrature axis of the last beat, which is obtained by center difference operation of the current components in the estimated quadrature axis of the current beat and the last beat.

[0113] It can be seen that formula (10) introduces the discrete delay characteristics of the digital control system on the basis of formula (9), and realizes the phase compensation of the error electrical angle by combining the predicted current component with the measured current component of the last beat. Specifically, the compensation process corrects the timing misalignment between sampling and execution, so that the electrical angle estimation result is aligned in time with the real rotor response, and thus formula (10) can improve the real-time accuracy of the error electrical angle under dynamic operating conditions, and provides a key correction basis for the synchronization of high-frequency response and control timing.

[0114] Further, formula (10) is expanded to obtain the final expression of the compensated error electrical angle

[0115] (11)

[0116] In formula (11), represents the voltage increment in the estimated quadrature axis of the current beat, represents the current increment in the estimated quadrature axis of the current beat, represents the current increment in the estimated direct axis of the current beat; represents the stator resistance, represents the estimated electrical angular velocity at the last beat, represents the equivalent inductance in the quadrature axis.

[0117] ​As can be seen, the above formula further discretizes and engineers the calculation of the error electrical angle, and uses measurable voltage increment, current increment and known motor parameters (inductance, stator resistance, estimated electrical angular velocity, etc.) to construct a complete expression equation for the error electrical angle; specifically, by expanding the difference form of equation (10) into an algebraic combination of voltage increment and current increment, the flux linkage related terms and continuous derivative terms are completely eliminated, thus providing a calculable and low-delay core implementation method for intelligent prediction of electrical angle position under the condition of beatless high-frequency square wave injection.

[0118] In this embodiment, in step S701, based on the discrete delay characteristics of the digital control system, the high-frequency current component of the current frame and the measured high-frequency current component of the previous frame are differentially calculated to obtain the electrical angle error compensation result including the timing delay effect, so that the electrical angle estimation and the control signal are re-aligned in time. Based on this, in the whole technical solution, the electrical angle calculation has real-time performance and timing consistency, effectively eliminating the angle offset caused by the sampling lag of the digital control system, and improving the dynamic accuracy and stability of electrical angle estimation under the condition of no position sensor.

[0119] In one exemplary embodiment, Figure 3 The time series diagram of beatless prediction under high-frequency square wave injection conditions is shown, where (k-1) is contained on the time axis t. k (k+1) (k+2) Four sampling periods, high-frequency square wave acting on the high-frequency voltage component on the direct axis During the sampling period (k-1) With sampling period (k+1) The internal values ​​are respectively represented by voltage values. and in the sampling period k With sampling period (k+2) The internal values ​​are respectively represented by voltage values. .

[0120] Correspondingly, in the high-frequency current component of the direct axis During the sampling period (k-1) With sampling period (k+1) The internal manifestations are respectively from the current value To current value Linear growth, and at sampling period k With sampling period (k+2) The internal manifestations are respectively from the current value To current value The voltage decreases linearly, thus forming a frequency-dependent voltage component. Symmetrical current response with alternating polarities.

[0121] One complete cycle of the PWM carrier corresponds to each sampling period, the peak value ARR of the PWM carrier corresponds to the midpoint of each sampling period, and each PWM update corresponds to the start time of the next sampling period. Taking k For example, in the first half of the sampling period, the current loop control operation is performed; in the second half of the sampling period, the current sampling is performed, and based on the sampling result, the state prediction of the (k+1) The electrical angle state of the sampling period is predicted.

[0122] Based on this, in the current sampling period, both the current sampling of the current sampling period and the state prediction of the next sampling period are completed, so that the prediction result can be used in the control output of the next PWM update stage; therefore, the calculation link originally lagging one beat is advanced to be completed in the current period, realizing the feedforward compensation of one-beat sampling delay in the digital control system, so as to realize truly beatless prediction control under the condition of high-frequency square wave injection, synchronize the voltage injection and the current response in the time domain, and ensure the real-time and dynamic consistency of the angle estimation.

[0123] In an exemplary embodiment, Figure 4 The system control block diagram of beatless prediction under the condition of high-frequency square wave injection is shown, wherein: first, taking the three-phase current signals of the permanent magnet synchronous motor (IPMSM) as the input 、 、 The current components in the two-phase stationary α-β coordinate system and are obtained through Clarke transformation, and combined with the electrical angle prediction value , the current components in the estimated rotating coordinate system and are obtained through Park transformation, to serve as the basic signals for the current loop and high-frequency signal extraction.

[0124] Further, the current components and , the electrical angle prediction value , and the quadrature axis voltage component participate in the prediction process of the next beat current to obtain the predicted current components and in the estimated rotating coordinate system and are extracted to reflect the high-frequency response characteristics of the dynamic change of the electrical angle, providing a basis for subsequent error correction and angle compensation.

[0125] Further, the high-frequency current components and The input is fed into a PLL (Phase-locked loop) circuit and combined with the predicted electrical angle value. The compensated electrical angle is constructed, and the predicted value of the compensated electrical angle is derived from it to update the coordinate transformation reference, so that the current vector is aligned with the direction of the rotor magnetic field in real time and the current decoupling is correct.

[0126] Furthermore, the compensated predicted electric angular velocity is derived from the compensated predicted electric angle value. Given an electric angular velocity Compared with the compensated predicted electric angular velocity After the subtraction operation, the quadrature-axis current command is output through the PI controller. Then, the quadrature axis current command Compared with high-frequency current components Extracted equivalent feedback current After the subtraction operation, the quadrature-axis voltage command is output through the PI regulator. At the same time, direct-axis current command Set to zero, direct-axis current command Compared with high-frequency current components The obtained equivalent feedback current After the subtraction operation, the PI controller outputs the initial voltage command, which, combined with a high-frequency signal injection, outputs the direct-axis voltage command. .

[0127] Furthermore, the estimated rotation Cross-axis voltage command in coordinate system With direct axis voltage command Combined with the compensated electrical angle prediction value The voltage components in the two-phase stationary α-β coordinate system are obtained by inverse Park transform. and For voltage components and SVPWM modulation is performed to obtain the three-phase voltage signal. , , Finally, the three-phase voltage signals , , The inverter acts on the IPMSM to achieve a closed-loop control of current and torque.

[0128] Based on this, by combining high-frequency signal injection with deadbeat prediction, the current response and voltage output are updated synchronously within one sampling period, eliminating the one-beat delay in traditional control and enabling precise timing alignment of electrical angle estimation and voltage modulation, thereby significantly improving the dynamic control performance and steady-state accuracy of sensorless IPMSM.

[0129] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0130] Based on the same inventive concept, this application also provides a system for intelligent prediction of permanent magnet synchronous motor position using deadbeat high-frequency square wave injection, which implements the aforementioned method for intelligent prediction of permanent magnet synchronous motor position using deadbeat high-frequency square wave injection. The solution provided by this system is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the intelligent prediction system for permanent magnet synchronous motor position using deadbeat high-frequency square wave injection provided below can be found in the limitations of the method for intelligent prediction of permanent magnet synchronous motor position using deadbeat high-frequency square wave injection described above, and will not be repeated here.

[0131] In one exemplary embodiment, such as Figure 5 As shown, a position intelligent prediction system for a permanent magnet synchronous motor with deadbeat-free high-frequency square wave injection is provided, comprising: a discrete processing module 101, a high-frequency analysis module 102, an angle analysis module 103, and a compensation module 104, wherein:

[0132] Discrete processing module 101 is used to discretize the voltage equation corresponding to the preset permanent magnet synchronous motor under the condition of preset high frequency square wave injection, so as to obtain the measured current component of the current step and the predicted current component of the next step corresponding to the discrete equation structure.

[0133] The high-frequency analysis module 102 is used to perform incremental analysis on the measured current component of the current beat and the predicted current component of the next beat to obtain the high-frequency increment of the adjacent beat, and to perform differential operation on the measured current component of the current beat and the high-frequency increment of the adjacent beat to obtain the high-frequency current component of the current beat.

[0134] The angle analysis module 103 is configured to construct a high-frequency equivalent network corresponding to the voltage equation according to the preset high-frequency square wave and the high-frequency current component of the current beat, and perform coordinate conversion on the high-frequency equivalent network to obtain an angle correlation between the high-frequency current component of the current beat and the electrical angle error.

[0135] The compensation module 104 is configured to perform phase compensation on the electrical angle error according to the angle correlation, and derive a predicted value of the electrical angle of the next beat for intelligent prediction of the electrical angle position of the permanent magnet synchronous motor based on the beatless high-frequency square wave in the next beat.

[0136] In an exemplary embodiment, the discrete processing module 101 is further configured to: determine a voltage equation of the permanent magnet synchronous motor in a preset rotating coordinate system; perform forward discrete processing on the voltage equation according to the measured current component of the current beat and the high-frequency square wave injected in the direct axis of the rotating coordinate system to obtain a predicted current component of the next beat corresponding to a discrete equation structure and in the preset estimated direct axis and the preset estimated quadrature axis; and perform forward discrete processing on the voltage equation after time index shift according to the measured current component of the last beat, the measured current component of the current beat and the high-frequency square wave injected in the direct axis of the rotating coordinate system to obtain the measured current component of the current beat corresponding to the discrete equation structure and in the preset estimated direct axis and the preset estimated quadrature axis.

[0137] In an exemplary embodiment, the high-frequency analysis module 102 is further configured to: under the condition that the angular velocity of the permanent magnet synchronous motor is constant and half of the preset PWM frequency is taken as the injection frequency, perform difference calculation on the measured current component of the current beat and the predicted current component of the next beat to obtain voltage increments and current increments in the preset estimated direct axis and the preset estimated quadrature axis as high-frequency increments of adjacent beats.

[0138] In an exemplary embodiment, the high-frequency analysis module 102 is further configured to: perform central difference operation on the measured current component of the current beat and the high-frequency increments of adjacent beats to obtain the high-frequency current component of the current beat in the preset estimated direct axis and the preset estimated quadrature axis.

[0139] In an exemplary embodiment, the angle analysis module 103 is further configured to: under the condition of preset high-frequency square wave injection, ignore the resistance voltage drop term, the magnetic coupling term and the back electromotive force term in the voltage equation, and retain the high-frequency voltage component generated by the inductance term in the preset direct axis and the preset quadrature axis; construct a linear mapping relationship between the high-frequency current component and the high-frequency voltage component with the high-frequency current component in the direct axis and the quadrature axis as input and the high-frequency voltage component in the direct axis and the quadrature axis as output to obtain the high-frequency equivalent network corresponding to the voltage equation.

[0140] In an example embodiment, the angle resolving module 103 is further configured to: convert the high-frequency equivalent network in the preset rotating coordinate system into a target high-frequency equivalent network in a preset estimated rotating coordinate system; and in the target high-frequency equivalent network, perform coordinate expansion and decomposition on the high-frequency current component of the current beat according to the high-frequency square wave injected in the direct axis of the rotating coordinate system, to obtain an angle correlation between the high-frequency current component of the current beat and the electrical angle error.

[0141] In an example embodiment, the compensation module 104 is further configured to: according to the discrete delay characteristics of the digital control system corresponding to the permanent magnet synchronous motor, perform differential calculation on the high-frequency current component of the current beat and the measured high-frequency current component of the previous beat in the angle correlation, to obtain a compensated electrical angle error, and derive a predicted value of the electrical angle of the next beat.

[0142] The above-mentioned modules in the no-beat high-frequency square wave injection permanent magnet synchronous motor position intelligent prediction system can be realized by software, hardware, or a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the above-mentioned modules.

[0143] In an example embodiment, a computer device is provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps in any of the above-mentioned embodiments when executing the computer program.

[0144] In an example embodiment, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the steps in any of the above-mentioned embodiments.

[0145] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0146] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0147] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A dead-beat high-frequency square-wave injection permanent magnet synchronous motor position intelligent prediction method, characterized in that, The method comprises: Under the condition of preset high-frequency square wave injection, the voltage equation corresponding to the preset permanent magnet synchronous motor is discretely processed to obtain the measured current component of the current beat and the predicted current component of the next beat corresponding to the discrete equation structure; The measured current component of the current beat and the predicted current component of the next beat are incrementally analyzed to obtain the high-frequency increment of the adjacent beat, and the measured current component of the current beat and the high-frequency increment of the adjacent beat are differentially operated to obtain the high-frequency current component of the current beat; According to the preset high-frequency square wave and the high-frequency current component of the current beat, a high-frequency equivalent network corresponding to the voltage equation is constructed, and coordinate transformation is performed on the high-frequency equivalent network to obtain the angle correlation between the high-frequency current component of the current beat and the electrical angle error; According to the angle correlation, the electrical angle error is phase compensated, and the predicted value of the electrical angle of the next beat is derived for intelligent prediction of the electrical angle position of the permanent magnet synchronous motor based on the high-frequency square wave without beat difference in the next beat, comprising: according to the discrete delay characteristics of the digital control system corresponding to the permanent magnet synchronous motor, the high-frequency current component of the current beat and the measured high-frequency current component of the last beat are differentially calculated in the angle correlation to obtain the compensated electrical angle error, and the predicted value of the electrical angle of the next beat is derived.

2. The method of claim 1, wherein, The method comprises: The voltage equation of the permanent magnet synchronous motor in the preset rotating coordinate system is determined; The measured current component of the current beat and the high-frequency square wave injected in the direct axis of the rotating coordinate system are used to perform forward discrete processing on the voltage equation to obtain the predicted current component of the next beat corresponding to the discrete equation structure and in the preset estimated direct axis and the preset estimated quadrature axis; The measured current component of the current beat and the high-frequency square wave injected in the direct axis of the rotating coordinate system are used to perform forward discrete processing on the voltage equation to obtain the predicted current component of the next beat corresponding to the discrete equation structure and in the preset estimated direct axis and the preset estimated quadrature axis.

3. The method of claim 1, wherein, The measured current component of the current beat and the high-frequency square wave injected in the direct axis of the rotating coordinate system are used to perform forward discrete processing on the voltage equation to obtain the predicted current component of the next beat corresponding to the discrete equation structure and in the preset estimated direct axis and the preset estimated quadrature axis. The measured current component of the current beat and the high-frequency square wave injected in the direct axis of the rotating coordinate system are used to perform forward discrete processing on the voltage equation to obtain the predicted current component of the next beat corresponding to the discrete equation structure and in the preset estimated direct axis and the preset estimated quadrature axis.

4. The method of claim 1, wherein, The measured current component of the current beat and the high-frequency square wave injected in the direct axis of the rotating coordinate system are used to perform forward discrete processing on the voltage equation to obtain the predicted current component of the next beat corresponding to the discrete equation structure and in the preset estimated direct axis and the preset estimated quadrature axis. The measured current component of the current beat and the high-frequency square wave injected in the direct axis of the rotating coordinate system are used to perform forward discrete processing on the voltage equation to obtain the predicted current component of the next beat corresponding to the discrete equation structure and in the preset estimated direct axis and the preset estimated quadrature axis.

5. The method of claim 1, wherein, The high-frequency equivalent network corresponding to the voltage equation is constructed according to the preset high-frequency square wave and the high-frequency current component of the current beat, and the high-frequency equivalent network corresponding to the voltage equation comprises: Under the condition of injection of the preset high-frequency square wave, the resistance voltage drop term, the magnetic coupling term and the back electromotive force term in the voltage equation are ignored, and the high-frequency voltage component generated by the inductance term in the preset direct axis and the preset quadrature axis is retained; The linear mapping relationship between the high-frequency current component and the high-frequency voltage component is constructed by taking the high-frequency current component in the direct axis and the quadrature axis as input and taking the high-frequency voltage component in the direct axis and the quadrature axis as output, so as to obtain the high-frequency equivalent network corresponding to the voltage equation.

6. The method of claim 1, wherein, The angle correlation between the high-frequency current component of the current beat and the electrical angle error is obtained by coordinate conversion of the high-frequency equivalent network, and the angle correlation between the high-frequency current component of the current beat and the electrical angle error comprises: The high-frequency equivalent network in the preset rotating coordinate system is converted into a target high-frequency equivalent network in a preset estimated rotating coordinate system; In the target high-frequency equivalent network, the high-frequency current component of the current beat is expanded and decomposed according to the high-frequency square wave injected in the direct axis of the rotating coordinate system, so as to obtain the angle correlation between the high-frequency current component of the current beat and the electrical angle error.

7. A dead-beat high frequency square wave injection based permanent magnet synchronous motor position intelligent prediction system, characterized in that, The system comprises: A discrete processing module is configured to discretely process a voltage equation corresponding to a preset permanent magnet synchronous motor under the condition of injection of a preset high-frequency square wave, so as to obtain a current measured current component of a current beat and a predicted current component of a next beat corresponding to a discrete equation structure; A high-frequency analysis module is configured to incrementally analyze the current measured current component of the current beat and the predicted current component of the next beat, so as to obtain a high-frequency increment of adjacent beats, and to perform a difference operation on the current measured current component of the current beat and the high-frequency increment of adjacent beats, so as to obtain a high-frequency current component of the current beat; An angle analysis module is configured to construct a high-frequency equivalent network corresponding to the voltage equation according to the preset high-frequency square wave and the high-frequency current component of the current beat, and to obtain an angle correlation between the high-frequency current component of the current beat and an electrical angle error by coordinate conversion of the high-frequency equivalent network; A compensation module is configured to perform phase compensation on the electrical angle error according to the angle correlation, and to derive an electrical angle prediction value of the next beat, so as to intelligently predict an electrical angle position of the permanent magnet synchronous motor based on a high-frequency square wave without a current beat in the next beat; The compensation module is further configured to perform a difference calculation on the high-frequency current component of the current beat and a measured high-frequency current component of a previous beat in the angle correlation according to a discrete delay characteristic of a digital control system corresponding to the permanent magnet synchronous motor, so as to obtain a compensated electrical angle error, and to derive the electrical angle prediction value of the next beat.

8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that, The processor executes the computer program to implement the steps of the method of any one of claims 1 to 6.

9. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 6.

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