Permanent magnet synchronous motor vibration control method and system based on small signal excitation

Abstract

The invention provides a permanent magnet synchronous motor vibration control method and system based on small signal excitation. The method comprises the following steps: extracting n-order vibration amplitudes generated in operation of a permanent magnet synchronous motor in real time; based on a small signal excitation algorithm, taking minimization of the n-order vibration amplitude as an optimization target, and determining a harmonic voltage parameter for suppressing the n-order vibration amplitude in real time; the harmonic voltage parameters comprise an (n + 1)-th harmonic voltage amplitude, an (n + 1)-th harmonic voltage phase, an (n-1)-th harmonic voltage amplitude and an (n-1)-th harmonic voltage phase; synthesizing the (n + 1)-th harmonic voltage amplitude, the (n + 1)-th harmonic voltage phase, the (n-1)-th harmonic voltage amplitude and the (n-1)-th harmonic voltage phase to obtain harmonic compensation voltage; and injecting the harmonic compensation voltage into a voltage control instruction of the permanent magnet synchronous motor to generate a final control voltage. The problem that an existing control technology is difficult to adapt to variable working conditions of the motor is effectively solved, and the vibration suppression effect is improved.

Description

Technical Field

[0001] This invention relates to the field of permanent magnet synchronous motor control technology, specifically to a vibration control method and system for a permanent magnet synchronous motor based on small-signal excitation. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs) are widely used in demanding fields such as new energy vehicles, precision industrial servos, and marine electric propulsion due to their high power density, high efficiency, and excellent speed regulation performance. However, the vibration and noise generated during motor operation directly affect the reliability, accuracy, and ride comfort of the equipment, and are key technical bottlenecks that urgently need to be addressed in high-end applications.

[0003] Currently, vibration suppression methods for permanent magnet synchronous motors are mainly divided into two categories: passive control and active control. Passive control methods (such as optimizing the motor structure and designing filters) are usually fixed in the design stage, unable to adapt to changes in operating conditions, and may increase cost and size. Active control methods, on the other hand, inject compensation signals through control algorithms to counteract vibration sources, offering greater flexibility. Existing active control schemes mainly suffer from the following shortcomings: 1. Strong model dependence: Most model-based active control methods (such as feedforward compensation and adaptive notch filtering) require accurate motor electromagnetic parameters and vibration physical models. In practice, model mismatch, time-varying parameters, and nonlinear factors can lead to a significant decrease in suppression effectiveness or even failure. 2. Insufficient adaptability: Some methods use fixed harmonic injection strategies, unable to track and adjust vibration characteristics that change due to load, speed, and temperature variations online, resulting in performance degradation under varying operating conditions. 3. Single control objective: Traditional vector control uses speed and current as the core control objectives, failing to incorporate vibration amplitude as a direct feedback quantity into the closed loop, leading to indirect and non-optimal vibration suppression.

[0004] Therefore, there is an urgent need to provide a vibration suppression strategy that can adapt to time-varying operating conditions without relying on precise mathematical models and take vibration as a direct control target, so as to solve the problem of low-frequency vibration suppression of permanent magnet synchronous motors in complex operating environments. Summary of the Invention

[0005] In view of this, it is necessary to provide a vibration control method and system for permanent magnet synchronous motors based on small signal excitation, in order to solve the technical problems of existing technologies such as model dependence, poor adaptability to changing working conditions, and failure to take vibration as the control target, which makes it difficult to achieve real-time optimization and poor vibration suppression effect.

[0006] To address the aforementioned technical problems, in a first aspect, the present invention provides a vibration control method for a permanent magnet synchronous motor based on small-signal excitation, comprising: Real-time extraction of the nth-order vibration amplitude generated during the operation of a permanent magnet synchronous motor; Based on the small-signal excitation algorithm, with minimizing the nth-order vibration amplitude as the optimization objective, the harmonic voltage parameters used to suppress the nth-order vibration amplitude are determined in real time; the harmonic voltage parameters include the (n+1)th harmonic voltage amplitude, the (n+1)th harmonic voltage phase, the (n-1)th harmonic voltage amplitude, and the (n-1)th harmonic voltage phase. The amplitude, phase, amplitude, and phase of the n+1 harmonic voltage are combined to obtain the harmonic compensation voltage. The harmonic compensation voltage is injected into the voltage control command of the permanent magnet synchronous motor to generate the final control voltage.

[0007] In one possible implementation, the voltage control command of the permanent magnet synchronous motor includes a voltage control command output from the current loop. Then, injecting the harmonic compensation voltage into the voltage control command of the permanent magnet synchronous motor to generate the final control voltage includes: The control voltage is obtained by superimposing the harmonic compensation voltage with the fundamental voltage in the voltage control command of the current loop.

[0008] In one possible implementation, the harmonic compensation voltage includes a d-axis harmonic compensation voltage and a q-axis harmonic compensation voltage.

[0009] In one possible implementation, the small-signal excitation algorithm, with minimizing the nth-order vibration amplitude as the optimization objective, determines in real time the harmonic voltage parameters used to suppress the nth-order vibration amplitude, including: Step 1: Apply a periodic small-signal perturbation to the current harmonic voltage parameters; Step 2: Measure the response of the nth-order vibration amplitude to the periodic small-signal disturbance, and determine the gradient vector of the nth-order vibration amplitude relative to the current harmonic voltage parameter based on the response; Step 3: Determine whether the gradient vector satisfies the preset iterative convergence condition; Step 4: If the conditions are met, the current harmonic voltage parameter is used as the harmonic voltage parameter; if the conditions are not met, the current harmonic voltage parameter is updated based on the gradient vector to obtain the updated harmonic voltage parameter, and the next iteration is performed based on the updated harmonic voltage parameter.

[0010] In one possible implementation, the iterative convergence condition is that the norm of the gradient vector is less than the gradient threshold.

[0011] In one possible implementation, determining the gradient vector of the nth-order vibration amplitude relative to the current harmonic voltage parameter based on the response includes: The response is high-pass filtered to obtain the filtered signal; The gradient vector is obtained by multiplying the filtered signal and the demodulated signal. The frequency of the demodulated signal is the same as the frequency of the periodic small signal disturbance, and the phase of the demodulated signal has a fixed phase difference with the phase of the periodic small signal disturbance.

[0012] In one possible implementation, the updated harmonic voltage parameters are:

[0013] In the formula, To update harmonic voltage parameters; These are the current harmonic voltage parameters; This is the integral gain; This is the gradient vector.

[0014] In one possible implementation, the real-time extraction of the nth-order vibration amplitude generated during the operation of the permanent magnet synchronous motor includes: The vibration signal of the permanent magnet synchronous motor during operation is collected in real time, and the nth order vibration amplitude is extracted from the vibration signal.

[0015] In one possible implementation, the method further includes: The control voltage is pulse-width modulated using a space vector pulse width modulator to obtain multiple pulse width modulated signals. The inverter converts the multi-pulse-width modulation signal into the symmetrical three-phase sinusoidal AC power required by the permanent magnet synchronous motor.

[0016] Secondly, the present invention also provides a vibration control system for a permanent magnet synchronous motor based on small-signal excitation, comprising: The vibration signal extraction module is used to extract the nth-order vibration amplitude generated during the operation of the permanent magnet synchronous motor in real time. The small-signal excitation adaptive module is used to determine the harmonic voltage parameters for suppressing the nth-order vibration amplitude in real time based on the small-signal excitation algorithm, with the goal of minimizing the nth-order vibration amplitude; the harmonic voltage parameters include the (n+1)th harmonic voltage amplitude, the (n+1)th harmonic voltage phase, the (n-1)th harmonic voltage amplitude, and the (n-1)th harmonic voltage phase. The voltage synthesis module is used to synthesize the amplitude, phase, amplitude, and phase of the n+1th harmonic voltage, to obtain the harmonic compensation voltage. The voltage injection module is used to inject the harmonic compensation voltage into the voltage control command of the permanent magnet synchronous motor to generate the final control voltage.

[0017] The beneficial effects of this invention are as follows: The vibration control method for permanent magnet synchronous motors based on small-signal excitation provided by this invention determines the harmonic voltage parameters used to suppress the nth-order vibration amplitude based on the small-signal excitation algorithm, without relying on the complex mathematical model of the motor and vibration system. Noise suppression can be achieved simply by injecting a small disturbance and measuring the vibration response to determine the harmonic voltage parameters. This fundamentally solves the performance degradation problem caused by model mismatch in traditional methods, and exhibits extremely strong robustness.

[0018] Furthermore, this invention optimizes vibration by minimizing the amplitude of the nth-order vibration, treating vibration as an independent control objective, which greatly improves the vibration suppression effect.

[0019] Meanwhile, this invention achieves vibration suppression by injecting a harmonic compensation voltage associated with the nth-order vibration amplitude. This order-harmonic mapping relationship based on physical mechanisms allows energy to be precisely used to offset vibration, avoiding efficiency loss or current distortion caused by blind injection, and achieving efficient and targeted vibration suppression. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A schematic flowchart of an embodiment of the vibration control method for permanent magnet synchronous motors based on small-signal excitation provided by the present invention; Figure 2 An overall block diagram of vibration control for permanent magnet synchronous motors provided by the present invention; Figure 3 Detailed control block diagram of vibration control of permanent magnet synchronous motor provided by the present invention; Figure 4 For the present invention Figure 1 A schematic diagram of an embodiment of S102; Figure 5 This is a block diagram illustrating the principle of the small-signal excitation algorithm provided by the present invention. Figure 6 This is a schematic diagram of an embodiment of the vibration control system for permanent magnet synchronous motors based on small-signal excitation provided by the present invention. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0023] It should be understood that the illustrative drawings are not drawn to scale. The flowcharts used in this invention illustrate operations implemented according to some embodiments of the invention. It should be understood that the operations in the flowcharts may be implemented out of order, and steps without logical contextual relationships may be reversed or performed simultaneously. Furthermore, those skilled in the art, guided by the content of this invention, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor systems and / or microcontroller systems.

[0024] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0025] This invention provides a vibration control method and system for a permanent magnet synchronous motor based on small-signal excitation, which will be described below.

[0026] Figure 1 This is a schematic flowchart of an embodiment of the vibration control method for permanent magnet synchronous motors based on small-signal excitation provided by the present invention, as shown below. Figure 1 As shown, the vibration control method for permanent magnet synchronous motors based on small-signal excitation includes: S101. Real-time extraction of the nth-order vibration amplitude generated during the operation of the permanent magnet synchronous motor.

[0027] Step S101 can be implemented based on a vibration sensor and a signal acquisition card. Specifically, the vibration signal of the permanent magnet synchronous motor during operation is collected in real time based on the vibration sensor, and the nth-order vibration amplitude is extracted from the vibration signal based on the signal acquisition card.

[0028] It should be understood that the order refers to the ratio between the vibration frequency and the rotor rotation frequency of the permanent magnet synchronous motor. The order is directly proportional to the rotational speed and is a relative, normalized quantity. When the rotational speed changes, the frequency of the nth order vibration will change linearly, but its order n remains unchanged.

[0029] S102. Based on the small signal excitation algorithm, with the goal of minimizing the nth order vibration amplitude, the harmonic voltage parameters used to suppress the nth order vibration amplitude are determined in real time. The harmonic voltage parameters include the n+1th harmonic voltage amplitude, the n+1th harmonic voltage phase, the n-1th harmonic voltage amplitude, and the n-1th harmonic voltage phase.

[0030] It should be understood that "order" refers to the multiple relationship between the frequency of the current or voltage signal and the fundamental frequency of the power supply. In permanent magnet synchronous motor control, the electrical frequency and the mechanical speed have a fixed proportional relationship. Therefore, the harmonic voltage is also a value related to the speed. That is, the embodiments of the present invention construct an order-harmonic mapping relationship, realizing efficient and targeted vibration suppression.

[0031] S103. Combine the amplitude, phase, amplitude and phase of the n+1 harmonic voltage to obtain the harmonic compensation voltage.

[0032] It should be noted that the harmonic compensation voltage is related to three parameters: amplitude, phase, and frequency. The frequency can be determined based on the characteristic frequency of the vibration to be suppressed. Therefore, the small signal excitation algorithm in this embodiment of the invention only determines the phase and amplitude.

[0033] Specifically, the process of obtaining the harmonic compensation voltage is as follows: calculate n+1 and n based on the real-time collected motor rotor electrical angle. The instantaneous phase angle of the first harmonic voltage is obtained, and then the harmonic compensation voltage in the synchronous rotating coordinate system is synthesized based on the instantaneous phase angle.

[0034] S104. Inject the harmonic compensation voltage into the voltage control command of the permanent magnet synchronous motor to generate the final control voltage.

[0035] It should be noted that steps S101-S104 are performed at each time step, meaning the control process is dynamic.

[0036] It should be understood that the vibration control method for permanent magnet synchronous motors based on small-signal excitation in the embodiments of the present invention can be implemented in any device based on the vibration control method for permanent magnet synchronous motors based on small-signal excitation, such as a motor vibration control device. Specifically, the vibration control method for permanent magnet synchronous motors based on small-signal excitation is stored in the aforementioned device as a pre-programmed program. When the device is started, the program is invoked, and the vibration control method for permanent magnet synchronous motors based on small-signal excitation is implemented.

[0037] Compared with existing technologies, the vibration control method for permanent magnet synchronous motors based on small-signal excitation provided in this invention determines the harmonic voltage parameters used to suppress the nth-order vibration amplitude based on a small-signal excitation algorithm, without relying on complex mathematical models of the motor and vibration system. Noise suppression can be achieved simply by injecting a small disturbance and measuring the vibration response to determine the harmonic voltage parameters. This fundamentally solves the performance degradation problem caused by model mismatch in traditional methods, demonstrating extremely strong robustness.

[0038] Furthermore, in this embodiment of the invention, minimizing the amplitude of the nth-order vibration is the optimization objective, and vibration is treated as an independent control objective, which greatly improves the vibration suppression effect.

[0039] Meanwhile, the embodiments of the present invention achieve vibration suppression by injecting a harmonic compensation voltage associated with the nth-order vibration amplitude. This order-harmonic mapping relationship based on physical mechanism allows energy to be precisely used to offset vibration, avoiding efficiency loss or current distortion caused by blind injection, and achieving efficient and targeted vibration suppression.

[0040] In some embodiments of the present invention, the vibration control method for permanent magnet synchronous motors based on small-signal excitation constitutes a vibration loop, and its coupling relationship with the speed loop and current loop existing in the traditional vibration control method for permanent magnet synchronous motors is as follows: Figure 2 As shown, the vibration loop includes three steps. The first step is to extract the vibration signal. The second step is to run the small signal excitation algorithm to obtain the harmonic voltage parameters. The third step is to determine the harmonic compensation voltage based on the harmonic voltage parameters, and then inject the harmonic compensation voltage into the current loop. The harmonic compensation voltage is then superimposed with the fundamental voltage output by the current loop to obtain the control voltage.

[0041] It should be noted that: such as Figure 2 As shown, after obtaining the control voltage, it is also necessary to control the permanent magnet synchronous motor based on this control voltage. Therefore, in some embodiments of the present invention, after step S104, the following steps are also included: The control voltage is pulse-width modulated using a space vector pulse width modulator (SVPWM) to obtain multiple pulse width modulated signals; the inverter then converts these multiple pulse width modulated signals into symmetrical three-phase sinusoidal AC power required by the permanent magnet synchronous motor.

[0042] In this embodiment of the invention, a vibration loop based on a small-signal excitation algorithm is added to the traditional dual closed loop of speed loop and current loop, and the vibration loop is treated as a third loop independent of the speed loop and current loop, thereby achieving effective suppression of vibration.

[0043] Since vibration is caused by specific electromagnetic force waves, and the generation of these electromagnetic force waves is related to a specific combination of d-axis and q-axis currents, in order to further improve the vibration suppression effect, in some embodiments of the present invention, the harmonic compensation voltage includes a d-axis harmonic compensation voltage and a q-axis harmonic compensation voltage.

[0044] By independently controlling the harmonic voltages on the d-axis and q-axis, the embodiments of the present invention can more precisely control the amplitude and phase of the harmonic current, thereby more effectively counteracting vibration and improving the vibration suppression effect.

[0045] Then as Figure 3 As shown, the amplitude, phase, amplitude, and phase of the (n+1)th harmonic voltage are obtained through a small-signal excitation algorithm, and the d-axis harmonic compensation voltage is obtained through voltage synthesis. and q-axis harmonic compensation voltage This is injected into the d-axis and q-axis, and then compared with the d-axis fundamental voltage U obtained from the current loop via a PI controller. d and q-axis fundamental voltage U q The control voltage is obtained by summing the control voltage and the motor position angle. The final synthesized voltage in the stationary two-dimensional coordinate system is then obtained by dq coordinate transformation based on the control voltage and the motor position angle. and , and As an input to SVPWM, it outputs six PWM waves to the inverter. The inverter converts the PWM waves into the symmetrical three-phase sinusoidal AC power required for PMSM.

[0046] In some embodiments of the present invention, such as Figure 4 As shown, step S102 includes: S401. Apply a periodic small-signal perturbation to the current harmonic voltage parameters; S402. Measure the response of the nth-order vibration amplitude to a periodic small-signal disturbance, and determine the gradient vector of the nth-order vibration amplitude relative to the current harmonic voltage parameter based on the response. S403. Determine whether the gradient vector satisfies the preset iterative convergence condition; S404. If satisfied, the current harmonic voltage parameter is used as the harmonic voltage parameter; if not satisfied, the current harmonic voltage parameter is updated based on the gradient vector to obtain the updated harmonic voltage parameter, and the next iteration is performed based on the updated harmonic voltage parameter.

[0047] Specifically, the next iteration based on the updated harmonic voltage parameters is as follows: take the updated harmonic voltage parameters as the current harmonic voltage parameters, return to step S401, and repeat S401-S404 until the iteration convergence condition is met.

[0048] In a specific embodiment of the present invention, the iterative convergence condition is: the norm of the gradient vector is less than the gradient threshold.

[0049] In a specific embodiment of the present invention, the gradient threshold is 0.

[0050] To improve the accuracy of iteration judgment, the specific convergence condition is: the duration for which the norm of the gradient vector is less than the gradient threshold is greater than the time threshold.

[0051] That is, the iterative convergence condition is only determined when the gradient vector reaches an extreme point and remains there for a certain period of time, which further improves the accuracy of the determined gradient vector and eliminates the adverse effects of accidental extreme values.

[0052] In a specific embodiment of the present invention, step S402, determining the gradient vector of the nth-order vibration amplitude relative to the current harmonic voltage parameter based on the response, includes: The response is high-pass filtered to obtain the filtered signal, and the filtered signal is multiplied with the demodulated signal to obtain the gradient vector. The frequency of the demodulated signal is the same as the frequency of the periodic small-signal disturbance, and the phase of the demodulated signal has a fixed phase difference with the phase of the periodic small-signal disturbance.

[0053] For example, when the periodic small signal disturbance is At that time, the demodulated signal is .

[0054] in, It is the excitation parameter for periodic small-signal disturbances, which is used to control the amplitude of periodic small-signal disturbances; t represents frequency; t represents time.

[0055] Specifically, the frequency of periodic small-signal perturbations ω The frequency of the periodic small signal disturbance needs to be at least one order of magnitude lower than that of the control parameter frequency. The excitation parameters and the step size of the adaptive algorithm are related.

[0056] In a specific embodiment of the present invention, the harmonic voltage parameters are updated as follows:

[0057] In the formula, To update harmonic voltage parameters; These are the current harmonic voltage parameters; This is the integral gain; This is the gradient vector.

[0058] The sign of the integral gain directly affects the type of search performed by the algorithm: when k is positive, the algorithm will search for the maximum value; when k is negative, the algorithm will search for the minimum value.

[0059] In a specific embodiment of the present invention, the small-signal activation algorithm is divided into a plant part, an optimizer part, and a gradient estimation part, and its working principle is as follows: Figure 5 As shown: First, apply an amplitude of [value] to the current harmonic voltage parameters. And the frequency is sinusoidal disturbance The harmonic voltage parameters after applying a sinusoidal perturbation are obtained. .

[0060] Secondly, the PLAN part determines the system state based on the dynamic evolution of the motor-electromechanical system after the injection of harmonic voltage, and then extracts the response of the nth-order vibration amplitude to the periodic small-signal disturbance from the system state. .in, Figure 5 In The state equation is... The output equation is f, which is a nonlinear function of the dynamic characteristics of the permanent magnet synchronous motor, defining how the state x of the permanent magnet synchronous motor evolves with time. represents the injected control voltage; h is the output function.

[0061] Next, the gradient estimation part uses a cutoff frequency of ω h A high-pass filter (HPF) is used to high-pass filter the response, and in order to calculate the gradient vector, the frequency of the filtered response needs to be... ω and phase difference is The demodulated signal is obtained In-phase vibration responses will result in negative gradients, while out-of-phase vibration responses will result in positive gradients. Near the optimal control parameters, the gradient is almost zero. The DC component of the vibration response needs to be filtered out, retaining only the AC response. Phase is used to locate the minimum peak value, while zero phase is used to locate the maximum peak value.

[0062] Finally, the optimizer part will use the gradient vector The value at time step n is obtained by adding the prior value of the central control parameter at time step n-1. .

[0063] The above steps are executed cyclically within each time step to locate the minimum vibration value and continuously track the control parameters. When the minimum vibration peak value is reached, the algorithm will oscillate around that value.

[0064] As described above, the small-signal excitation algorithm does not rely on a theoretical model and can quickly identify singular points and lock singular values ​​or trajectories without prior knowledge. When the mapping relationship between the input and output of a control system is uncertain, this algorithm can reach the neighborhood of an extreme point and maintain that extreme point or trajectory solely through the continuous excitation effect of an applied small disturbance signal.

[0065] In summary, the vibration control method for permanent magnet synchronous motors based on small-signal excitation proposed in this embodiment of the invention, from the perspective of active control, introduces a vibration loop containing a small-signal excitation adaptive algorithm into the vector control system of the permanent magnet motor to suppress the vibration amplitude of the target order, effectively solving the problem that the motor has rich low-frequency vibration characteristic frequencies and that existing control technologies are difficult to adapt to the variable operating conditions of the motor.

[0066] On the other hand, embodiments of the present invention also provide a vibration control system for a permanent magnet synchronous motor based on small-signal excitation, such as... Figure 6 As shown, the vibration control system 600 for a permanent magnet synchronous motor based on small-signal excitation includes: The vibration signal extraction module 601 is used to extract the nth-order vibration amplitude generated during the operation of the permanent magnet synchronous motor in real time. The small-signal excitation adaptive module 602 is used to determine the harmonic voltage parameters for suppressing the nth-order vibration amplitude in real time based on the small-signal excitation algorithm with the goal of minimizing the nth-order vibration amplitude. The harmonic voltage parameters include the (n+1)th harmonic voltage amplitude, the (n+1)th harmonic voltage phase, the (n-1)th harmonic voltage amplitude, and the (n-1)th harmonic voltage phase. The voltage synthesis module 603 is used to synthesize the amplitude of the (n+1)th harmonic voltage, the phase of the (n+1)th harmonic voltage, the amplitude of the (n-1)th harmonic voltage, and the phase of the (n-1)th harmonic voltage to obtain the harmonic compensation voltage. The voltage injection module 604 is used to inject harmonic compensation voltage into the voltage control command of the permanent magnet synchronous motor to generate the final control voltage.

[0067] The permanent magnet synchronous motor vibration control system 600 based on small signal excitation provided in the above embodiments can realize the technical solutions described in the embodiments of the permanent magnet synchronous motor vibration control method based on small signal excitation. The specific implementation principles of each module or unit can be found in the corresponding content in the embodiments of the permanent magnet synchronous motor vibration control method based on small signal excitation, which will not be repeated here.

[0068] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.), and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0069] The above provides a detailed description of the vibration control method and system for permanent magnet synchronous motors based on small-signal excitation provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A vibration control method for a permanent magnet synchronous motor based on small-signal excitation, characterized in that, include: Real-time extraction of the nth-order vibration amplitude generated during the operation of a permanent magnet synchronous motor; Based on the small-signal excitation algorithm, with minimizing the nth-order vibration amplitude as the optimization objective, the harmonic voltage parameters used to suppress the nth-order vibration amplitude are determined in real time; the harmonic voltage parameters include the (n+1)th harmonic voltage amplitude, the (n+1)th harmonic voltage phase, the (n-1)th harmonic voltage amplitude, and the (n-1)th harmonic voltage phase. The amplitude, phase, amplitude, and phase of the n+1 harmonic voltage are combined to obtain the harmonic compensation voltage. The harmonic compensation voltage is injected into the voltage control command of the permanent magnet synchronous motor to generate the final control voltage.

2. The vibration control method for permanent magnet synchronous motors based on small-signal excitation according to claim 1, characterized in that, The voltage control command of the permanent magnet synchronous motor includes a voltage control command output from the current loop. The step of injecting the harmonic compensation voltage into the voltage control command of the permanent magnet synchronous motor to generate the final control voltage includes: The control voltage is obtained by superimposing the harmonic compensation voltage with the fundamental voltage in the voltage control command of the current loop.

3. The vibration control method for a permanent magnet synchronous motor based on small-signal excitation according to claim 1, characterized in that, The harmonic compensation voltage includes the d-axis harmonic compensation voltage and the q-axis harmonic compensation voltage.

4. The vibration control method for a permanent magnet synchronous motor based on small-signal excitation according to claim 1, characterized in that, The small-signal excitation algorithm, with minimizing the nth-order vibration amplitude as the optimization objective, determines in real time the harmonic voltage parameters used to suppress the nth-order vibration amplitude, including: Step 1: Apply a periodic small-signal perturbation to the current harmonic voltage parameters; Step 2: Measure the response of the nth-order vibration amplitude to the periodic small-signal disturbance, and determine the gradient vector of the nth-order vibration amplitude relative to the current harmonic voltage parameter based on the response; Step 3: Determine whether the gradient vector satisfies the preset iterative convergence condition; Step 4: If the conditions are met, the current harmonic voltage parameter is used as the harmonic voltage parameter; if the conditions are not met, the current harmonic voltage parameter is updated based on the gradient vector to obtain the updated harmonic voltage parameter, and the next iteration is performed based on the updated harmonic voltage parameter.

5. The vibration control method for a permanent magnet synchronous motor based on small-signal excitation according to claim 4, characterized in that, The convergence condition for the iteration is that the norm of the gradient vector is less than the gradient threshold.

6. The vibration control method for a permanent magnet synchronous motor based on small-signal excitation according to claim 4, characterized in that, Determining the gradient vector of the nth-order vibration amplitude relative to the current harmonic voltage parameter based on the response includes: The response is high-pass filtered to obtain the filtered signal; The gradient vector is obtained by multiplying the filtered signal and the demodulated signal. The frequency of the demodulated signal is the same as the frequency of the periodic small signal disturbance, and the phase of the demodulated signal has a fixed phase difference with the phase of the periodic small signal disturbance.

7. The vibration control method for a permanent magnet synchronous motor based on small-signal excitation according to claim 6, characterized in that, The updated harmonic voltage parameters are: In the formula, To update harmonic voltage parameters; These are the current harmonic voltage parameters; This is the integral gain; This is the gradient vector.

8. The vibration control method for a permanent magnet synchronous motor based on small-signal excitation according to claim 1, characterized in that, The real-time extraction of the nth-order vibration amplitude generated during the operation of the permanent magnet synchronous motor includes: The vibration signal of the permanent magnet synchronous motor during operation is collected in real time, and the nth order vibration amplitude is extracted from the vibration signal.

9. The vibration control method for a permanent magnet synchronous motor based on small-signal excitation according to claim 1, characterized in that, The method further includes: The control voltage is pulse-width modulated using a space vector pulse width modulator to obtain multiple pulse width modulated signals. The inverter converts the multi-pulse-width modulation signal into the symmetrical three-phase sinusoidal AC power required by the permanent magnet synchronous motor.

10. A vibration control system for a permanent magnet synchronous motor based on small-signal excitation, characterized in that, include: The vibration signal extraction module is used to extract the nth-order vibration amplitude generated during the operation of the permanent magnet synchronous motor in real time. The small-signal excitation adaptive module is used to determine the harmonic voltage parameters for suppressing the nth-order vibration amplitude in real time based on the small-signal excitation algorithm, with the goal of minimizing the nth-order vibration amplitude; the harmonic voltage parameters include the (n+1)th harmonic voltage amplitude, the (n+1)th harmonic voltage phase, the (n-1)th harmonic voltage amplitude, and the (n-1)th harmonic voltage phase. The voltage synthesis module is used to synthesize the amplitude, phase, amplitude and phase of the n+1th harmonic voltage, and the phase of the n-1th harmonic voltage to obtain the harmonic compensation voltage. The voltage injection module is used to inject the harmonic compensation voltage into the voltage control command of the permanent magnet synchronous motor to generate the final control voltage.

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