CN102931905A - Permanent magnet synchronous motor control method and device - Google Patents

Abstract

The invention discloses a permanent magnet synchronous motor control method and device. The method comprises the following steps of: after a permanent magnet synchronous motor operates, estimating the rotor position angle error of the permanent magnet synchronous motor according to collected information on current and rotation speed of the permanent magnet synchronous motor; estimating current motor parameters of the permanent magnet synchronous motor according to the estimated rotor position angle error; and controlling the operation of the permanent magnet synchronous motor according to the current estimated motor parameters. By estimating the rotor position angle error according to the feedback current and rotation speed information of the permanent magnet synchronous motor, adjusting the motor parameters according to the estimated rotor position angle error, and controlling the operation of the permanent magnet synchronous motor according to the current estimated motor parameters, the method can achieve the purpose of reducing the rotor position angle error, and further, achieves the purposes of improving the energy efficiency of the permanent magnet synchronous motor and lowering the noise of the permanent magnet synchronous motor.

Description

Method for controlling permanent magnet synchronous motor and device

Technical field

The present invention relates to the synchronous machine control technology, relate in particular to a kind of method for controlling permanent magnet synchronous motor and device.

Background technology

At present, DC frequency converting air-conditioner equipment is widely used.DC frequency converting air-conditioner compressor adopts permagnetic synchronous motor mostly, and industry adopts the vector control technology of position-sensor-free that this motor is driven control usually at present.

In non-position sensor vector control method, usually adopt compressor electric motor parameter (such as motor stator resistance value, permanent-magnet magnetic flux etc.) to control the running of current permagnetic synchronous motor.

Yet the present inventor finds, obtains because the parameter of electric machine that adopts in the present non-position sensor vector control method is generally tested under off-line state; When permagnetic synchronous motor in actual moving process, because the impact of the conditions such as electric current or ambient temperature, real electrical machinery parameter value in the time of may making the permagnetic synchronous motor operation changes, and especially under extreme changes of temperature and low frequency working order, both difference is larger.In the situation that both differ greatly; if the parameter of electric machine that still obtains with test under the off-line state is controlled the running of permagnetic synchronous motor; then can cause the permanent-magnet synchronous motor rotor position calculating error excessive, cause the efficiency of motor rotation to reduce, noise becomes under large, the bad working environments even may cause motor abnormality to be shut down.

Summary of the invention

The embodiment of the invention provides a kind of method for controlling permanent magnet synchronous motor and device, in order to improve the efficiency of permagnetic synchronous motor, reduces motor noise.

According to an aspect of the present invention, provide a kind of method for controlling permanent magnet synchronous motor, having comprised:

After described permagnetic synchronous motor running, according to electric current and the rotary speed information of the described permagnetic synchronous motor that gathers, estimate the rotor position angle error of described permagnetic synchronous motor;

According to the rotor position angle error of estimation, estimate the current parameter of electric machine of described permagnetic synchronous motor;

Control described permagnetic synchronous motor running according to the current parameter of electric machine of estimation.

Preferably, before described permagnetic synchronous motor running, also comprise:

Obtain the initial parameter of electric machine of described permagnetic synchronous motor, and utilize the described initial parameter of electric machine to control described permagnetic synchronous motor entry into service.

Wherein, the described initial parameter of electric machine specifically comprises: initial motor stator resistance value R ₀, initial motor magnetic flux value

And

The current parameter of electric machine of described estimation specifically comprises: current motor stator resistance estimated value When front motor magnetic flux estimated value

Electric current and the rotary speed information of described described permagnetic synchronous motor according to gathering, estimate that the rotor position angle error of described permagnetic synchronous motor specifically comprises:

According to electric current and the rotary speed information of the described permagnetic synchronous motor that gathers, determine the vector current i of permagnetic synchronous motor _{γ δ}Rotational angular velocity ω with permagnetic synchronous motor;

According to i _{γ δ}Estimate the rotor position angle error of permagnetic synchronous motor with ω

Described according to i _{γ δ}Estimate the rotor position angle error of permagnetic synchronous motor with ω

Be specially:

Determine according to following formula 1

${\widehat{\mathrm{\θ}}}_e\≈-p\left\{\frac{(R_i-R_0)i_{\mathrm{\γ}}-({\mathrm{\φ}}_m^i-{\mathrm{\φ}}_m^0)+\mathrm{\ω}{\mathrm{\φ}}_m^0}{{\mathrm{\φ}}_m^0}\right\}/(K_{\mathrm{p\θ}}+\frac{K_{\mathrm{I\θ}}}{p})$ (formula 1)

In the described formula 1, i is evaluation times; R _iBe the motor stator resistance value of the i time estimation, when i=0, R _iBe initial motor stator resistance value R ₀

Be the motor magnetic flux value of the i time estimation, when i=0,

Be initial motor stator resistance value

i _γBe i _{γ δ}The real part current component; P is differential divisor; K _{P θ}, K _{I θ}Be the parameter that arranges; And

Described rotor position angle error according to estimation, estimate that the current parameter of electric machine of described permagnetic synchronous motor is specially:

If

Greater than the higher limit of setting, the motor stator resistance value R that then estimates for the i+1 time _I+1=R _i-Δ R, the motor magnetic flux value of the i+1 time estimation

Wherein, Δ R is predefined resistance adjustment value, Δ φ _mBe predefined magnetic flux regulated value;

If Less than the lower limit of setting, then R _I+1=R _i+ Δ R,

If

Less than or equal to the higher limit of setting and more than or equal to the lower limit of setting, then R _I+1=R _i, ${\mathrm{\φ}}_m^{i+1}={\mathrm{\φ}}_m^i;$

With R _I+1As described current motor stator resistance estimated value

As the described front motor magnetic flux estimated value of working as

Preferably, electric current and the rotary speed information of described described permagnetic synchronous motor according to gathering are estimated the rotor position angle error of described permagnetic synchronous motor; According to the rotor position angle error of estimation, estimate the current parameter of electric machine of described permagnetic synchronous motor, be specially:

When each setting cycle arrives, according to electric current and the rotary speed information of the described permagnetic synchronous motor that gathers, estimate the rotor position angle error of described permagnetic synchronous motor; According to the rotor position angle error of estimation, estimate the current parameter of electric machine of described permagnetic synchronous motor.

Described Δ R sets according to following formula 2:

Δ R=dR * T _s(formula 2)

Described Δ φ _mSet according to following formula 3:

Δ φ _m=d φ _m* T _s(formula 3)

Wherein, T _sBe described setting cycle, dR, d φ _mBe the parameter that arranges.

According to another aspect of the present invention, provide a kind of permanent magnet synchronous motor control device, having comprised:

Motor control unit is used for controlling described permagnetic synchronous motor entry into service according to the initial parameter of electric machine of described permagnetic synchronous motor;

Feedback unit is used for gathering electric current and the rotary speed information of described permagnetic synchronous motor after described permagnetic synchronous motor running;

Rotor position angle error estimation unit is used for electric current and rotary speed information according to described feedback unit collection, estimates the rotor position angle error of described permagnetic synchronous motor; And with the estimation the rotor position angle error send;

Current parameter of electric machine evaluation unit, be used for receiving the rotor position angle error of described rotor position angle error estimation unit estimation, according to the rotor position angle error of described rotor position angle error estimation unit estimation, estimate the current parameter of electric machine of described permagnetic synchronous motor; And the current parameter of electric machine that will estimate sends to described motor control unit;

Described motor control unit is controlled described permagnetic synchronous motor running according to the current parameter of electric machine of estimation after receiving the current parameter of electric machine that described current parameter of electric machine evaluation unit estimates.

Preferably, described rotor position angle error estimation unit specifically is used for according to electric current and the rotary speed information that described feedback unit gathers, estimating the rotor position angle error of described permagnetic synchronous motor when each setting cycle arrives; And with the estimation the rotor position angle error send.

In the technical scheme of the embodiment of the invention, owing to electric current and the rotary speed information according to the permagnetic synchronous motor that feeds back, estimate the rotor position angle error; And in general, the rotor position angle error is got over small machine, and the efficiency of permagnetic synchronous motor is just higher, and the noise of motor is just less; Therefore, just can recognize according to the rotor position angle error that estimates whether the current parameter of electric machine that is used for controlling the permagnetic synchronous motor running is suitable; If improper, then suitably adjust the parameter of electric machine, namely control the permagnetic synchronous motor running with the current parameter of electric machine of estimation, to reach the purpose of dwindling the rotor position angle error, thereby also just reach the efficiency that improves permagnetic synchronous motor, reduce the purpose of the noise of permagnetic synchronous motor.

Description of drawings

Fig. 1 is the method for controlling permanent magnet synchronous motor flow chart of the embodiment of the invention;

Fig. 2 a is the estimation parameter of electric machine of the embodiment of the invention, according to the method flow diagram of estimation parameter of electric machine control permagnetic synchronous motor running;

Fig. 2 b is the observer model schematic diagram of the embodiment of the invention;

Fig. 3 is the internal structure block diagram of the permanent magnet synchronous motor control device of the embodiment of the invention.

Embodiment

For making purpose of the present invention, technical scheme and advantage clearer, referring to accompanying drawing and enumerate preferred embodiment, the present invention is described in more detail.Yet, need to prove, many details of listing in the specification only are in order to make the reader to one or more aspects of the present invention a thorough understanding be arranged, even if there are not these specific details also can realize these aspects of the present invention.

The terms such as " module " used in this application, " system " are intended to comprise the entity relevant with computer, such as but not limited to hardware, firmware, combination thereof, software or executory software.For example, module can be, but be not limited in: the thread of the process of moving on the processor, processor, object, executable program, execution, program and/or computer.For instance, the application program of moving on the computing equipment and this computing equipment can be modules.One or more modules can be positioned at an executory process and/or thread.

The present inventor considers and can estimate rotor position error in the permagnetic synchronous motor operation process based on the analysis of the reason that above-mentioned permagnetic synchronous motor efficiency reduces, the noise change is large; The parameter of electric machine of magnitude estimation permagnetic synchronous motor in the real-world operation process according to the rotor error of estimating; Control the running of permagnetic synchronous motor according to parameter of electric machine estimation, more realistic operational situation, thereby can improve the efficiency of permagnetic synchronous motor, reduce the noise of permagnetic synchronous motor.

Describe the concrete technical scheme of the embodiment of the invention in detail below in conjunction with accompanying drawing.The flow chart of the method for controlling permanent magnet synchronous motor that the embodiment of the invention provides as shown in Figure 1, comprises the steps:

S101: obtain the initial parameter of electric machine, according to the running of initial parameter of electric machine control permagnetic synchronous motor.

The initial parameter of electric machine of permagnetic synchronous motor can be the parameter of electric machine of testing under the off-line state, and by pre-stored, the value that it is normally fixing.

S102: after the permagnetic synchronous motor running, according to electric current and the rotary speed information of the permagnetic synchronous motor that gathers, the rotor position angle error of estimation permagnetic synchronous motor.

S103: according to the rotor position angle error of estimation, the current parameter of electric machine of estimation permagnetic synchronous motor.

Because the deviation of the motor stator resistance in the parameter of electric machine, and the deviation of the motor magnetic flux in the parameter of electric machine can produce considerable influence to the running of control permagnetic synchronous motor, therefore, to the estimation of the current parameter of electric machine mainly be the current motor stator resistance value of estimation, when the front motor magnetic flux value; Namely the current parameter of electric machine of estimation specifically comprises: current motor stator resistance estimated value When front motor magnetic flux estimated value

S104: control the running of permagnetic synchronous motor according to the current parameter of electric machine of estimation.

Particularly, the current parameter of electric machine with estimation replaces the initial parameter of electric machine, i.e. use

Replace initial motor stator resistance value R ₀, use replaces

Initial motor magnetic flux value

Thereby can utilize the running of the current parameter of electric machine control permagnetic synchronous motor of estimation: the current parameter of electric machine according to estimation calculates vector voltage, after vector voltage is converted into three-phase voltage, the three-phase voltage that calculates is added to respectively the running of control permagnetic synchronous motor on the three phase electric machine of permagnetic synchronous motor.Utilize the method for operation of the current parameter of electric machine control permagnetic synchronous motor of estimating, the method that can turn round with the parameter of electric machine control permagnetic synchronous motor that utilization in the prior art is fixed is identical, repeats no more herein.

In actual applications, after the permagnetic synchronous motor running, can be periodic to the estimation of the current parameter of electric machine.That is to say, at each adjustment cycle T _sDuring arrival, just carry out parameter of electric machine estimation according to the method for above-mentioned step S102-S103, afterwards, utilize the running of the parameter of electric machine control permagnetic synchronous motor after estimating, concrete flow process shown in Fig. 2 a, comprises the steps:

S201: obtain the initial parameter of electric machine of permagnetic synchronous motor, according to the running of initial parameter of electric machine control permagnetic synchronous motor, evaluation times i=0.

Particularly, can comprise in the initial parameter of electric machine that obtains: initial motor stator resistance value R ₀, initial motor magnetic flux value

Particularly, calculate the vector voltage v of motor according to the motor speed of the initial parameter of electric machine and expectation _{γ δ}, according to the vector voltage v that calculates _{γ δ}The running of control permagnetic synchronous motor.Generally speaking, according to the vector voltage v that calculates _{γ δ}After conversing three-phase voltage, the three-phase voltage that calculates is added to respectively the running of control permagnetic synchronous motor on the three phase electric machine of compressor.Motor speed according to the initial parameter of electric machine and expectation calculates vector voltage v _{γ δ}, identical with the method for prior art according to the method for the running of vector voltage control permagnetic synchronous motor, be well known to those skilled in the art, do not give unnecessary details herein.

S202: at setting cycle T _sDuring arrival, according to electric current and the rotary speed information of the permagnetic synchronous motor that gathers, the rotor position angle error of estimation permagnetic synchronous motor.

Gather the electric current of permagnetic synchronous motor and the method for rotary speed information, the technology that is well known to those skilled in the art is introduced herein no longer in detail.According to electric current and the rotary speed information of the permagnetic synchronous motor that gathers, can estimate the rotor position angle error of permagnetic synchronous motor.Particularly, by electric current and the rotary speed information of the permagnetic synchronous motor that gathers, can determine the vector current i of permagnetic synchronous motor _{γ δ}Rotational angular velocity ω with permagnetic synchronous motor.Owing to passing through electric current and the rotary speed information of the permagnetic synchronous motor of collection, determining i _{γ δ}Be well known to those skilled in the art with the method for ω, repeat no more herein.

Wherein, vector current i _{γ δ}The current component i that comprises the γ axle _γCurrent component i with the δ axle _δ, i.e. i _{γ δ}=i _γ+ ji _δAccording to i _{γ δ}Can estimate the rotor position angle error of permagnetic synchronous motor with ω

For example, can estimate according to formula 1

${\widehat{\mathrm{\θ}}}_e\≈-p\left\{\frac{(R_i-R_0)i_{\mathrm{\γ}}-({\mathrm{\φ}}_m^i-{\mathrm{\φ}}_m^0)+\mathrm{\ω}{\mathrm{\φ}}_m^0}{{\mathrm{\φ}}_m^0}\right\}/(K_{\mathrm{p\θ}}+\frac{K_{\mathrm{I\θ}}}{p})$ (formula 1)

In the formula 1, R _iBe the motor stator resistance value of the i time estimation, the motor stator resistance value of namely last time estimating; When i=0, R _iBe initial motor stator resistance value R ₀

Be the motor magnetic flux value of the i time estimation, the motor magnetic flux value of namely last time estimating; When i=0,

Be initial motor stator resistance value

i _γBe i _{γ δ}The real part current component; P is differential divisor, i.e. p=d/dt; K _{P θ}, K _{I θ}Be the parameter that arranges.For example, K _{P θ}Can be made as 0.15, K _{I θ}Can be made as 0.009.

In fact, above-mentioned estimation equation formula 1 is to ignore i _{γ δ}Imaginary part current component i _δRight

The basis of impact on, a kind of estimation that provides for ease of calculating Method; And those skilled in the art can according to content disclosed by the invention, estimate with other formula So, do not breaking away from the electric current according to permagnetic synchronous motor of the present invention and rotary speed information, the rotor position angle error of estimation permagnetic synchronous motor

The prerequisite of basic principle under, other evaluation method also all should be considered as protection scope of the present invention.

S203: according to the rotor position angle error of estimation, estimate the current parameter of electric machine of described permagnetic synchronous motor.

Rotor position angle error according to estimation

The current parameter of electric machine of estimating described permagnetic synchronous motor is specially:

If

Greater than the higher limit of setting, the motor stator resistance value R that then estimates for the i+1 time _I+1=R _i-Δ R, the motor magnetic flux value of the i+1 time estimation

Wherein, Δ R is predefined resistance adjustment value, Δ φ _mBe predefined magnetic flux regulated value;

If

Less than the lower limit of setting, then R _I+1=R _i+ Δ R,

If

Less than or equal to the higher limit of setting and more than or equal to the lower limit of setting, then R _I+1=R _i, ${\mathrm{\φ}}_m^{i+1}={\mathrm{\φ}}_m^i;$

With R _I+1As described current motor stator resistance estimated value

As the described front motor magnetic flux estimated value of working as

Those skilled in the art can arrange above-mentioned higher limit and lower limit according to actual conditions, for example, can the capping value be 0.02, and lower limit is-0.02.

Above-mentioned Δ R and Δ φ _mCan set according to following formula 2,3:

Δ R=dR * T _s(formula 2)

Δ φ _m=d φ _m* T _s(formula 3)

Wherein, dR and d φ _mBe the parameter that arranges, those skilled in the art can arrange according to actual conditions; For example, dR=0.01 Ω/sec can be set, d φ _m=0.001Wb/sec.

S204: according to the current parameter of electric machine control permagnetic synchronous motor running of estimation, evaluation times adds 1:i=i+1, jumps to step S202.

Particularly, according to current motor stator resistance estimated value

With when front motor magnetic flux estimated value

Control permagnetic synchronous motor running: calculate the vector voltage of motor according to the motor speed of the current parameter of electric machine of estimating and expectation, according to the running of the vector voltage control permagnetic synchronous motor that calculates.The method that the vector voltage that calculates motor according to the current parameter of electric machine and the motor speed of expectation of estimation adopts, can with prior art in to calculate the method for vector voltage of motor according to the motor speed of the initial parameter of electric machine and expectation identical, the current parameter of electric machine that is about to estimation substitutes the initial parameter of electric machine and carries out the calculating of vector voltage, repeats no more herein.

Above-mentioned estimation equation formula 1 can derive out with reference to the observer model shown in Fig. 2 b.Can find out the vector voltage v of permagnetic synchronous motor from the observer model shown in Fig. 2 b _{γ δ}The derivation mode:

$v_{\mathrm{\γ\δ}}=\hat{R}{i}_{\mathrm{\γ\δ}}+(p+j\widehat{\mathrm{\ω}}){\widehat{\mathrm{\λ}}}_{\mathrm{\γ\δ}}+j\widehat{\mathrm{\ω}}{\widehat{\mathrm{\φ}}}_m+(\mathrm{\α}-j\widehat{\mathrm{\ω}})\mathrm{\Δ}{\mathrm{\λ}}_{\mathrm{\γ\δ}}$ (formula 4)

Wherein,

$\mathrm{\Δ}{\mathrm{\λ}}_{\mathrm{\γ\δ}}={\widehat{\mathrm{\λ}}}_{\mathrm{\γ\δ}}-(L_d{i}_{\mathrm{\γ}}+j{L}_q{i}_{\mathrm{\δ}})$ (formula 5)

${\widehat{\mathrm{\λ}}}_{\mathrm{\γ\δ}}={\hat{L}}_d{\hat{i}}_{\mathrm{\γ}}+j{\hat{L}}_q{\hat{i}}_{\mathrm{\δ}}$ (formula 6)

${\mathrm{\λ}}_{\mathrm{\γ\σ}}=(L_d{i}_{\mathrm{\γ}}+j{L}_q{i}_{\mathrm{\δ}})+\frac{L_q-L_d}{2}(i_{\mathrm{\γ}}-j{i}_{\mathrm{\δ}})(1-e^{-j2{\mathrm{\θ}}_e})$ (formula 7)

Can derive according to above formula 4-7:

$\mathrm{\Δ}{\mathrm{\λ}}_{\mathrm{\γ\δ}}=\frac{p+j\widehat{\mathrm{\ω}}}{p+\mathrm{\α}}\{{\mathrm{\φ}}_m(1-e^{-j{\mathrm{\θ}}_e})-\frac{L_q-L_d}{2}(i_{\mathrm{\γ}}-j{i}_{\mathrm{\δ}})(1-e^{-j2{\mathrm{\θ}}_e})\}-\frac{j\widehat{\mathrm{\ω}}({\widehat{\mathrm{\φ}}}_m-{\mathrm{\φ}}_m)+\left(\hat{R}-R\right)i_{\mathrm{\γ\δ}}}{(p+\mathrm{\α})}$ (formula 8)

Also can derive according to the observer model shown in Fig. 2 b:

${\widehat{\mathrm{\θ}}}_e=-\frac{1}{{\widehat{\mathrm{\φ}}}_m}\frac{p+\mathrm{\α}}{p+\widehat{\mathrm{\ω}}}[\mathrm{Im}\left(\mathrm{\Δ}{\mathrm{\λ}}_{\mathrm{\γ\δ}}\right)-\widehat{\mathrm{\ω}}\mathrm{Re}\left(\mathrm{\Δ}{\mathrm{\λ}}_{\mathrm{\γ\δ}}\right)\}$ (formula 9)

Because $\frac{L_q-L_d}{2}(i_{\mathrm{\γ}}-{\mathrm{ji}}_{\mathrm{\δ}})(1-e^{-j2{\mathrm{\θ}}_e})$ Compare ${\mathrm{\φ}}_m(1-e^{-j{\mathrm{\θ}}_e})$ Little a lot, can ignore, after it is ignored, can derive (concrete derivation is omitted) herein:

${\widehat{\mathrm{\θ}}}_e=-\frac{1}{{\widehat{\mathrm{\φ}}}_m}\frac{p+\mathrm{\α}}{p+\widehat{\mathrm{\ω}}}\{\mathrm{Im}\left(\mathrm{\Δ}{\mathrm{\λ}}_{\mathrm{\γ\δ}}\right)-\widehat{\mathrm{\ω}}\mathrm{Re}\left(\mathrm{\Δ}{\mathrm{\λ}}_{\mathrm{\γ\δ}}\right)\}$

(formula 10)

$\≈\frac{{\mathrm{\φ}}_m}{{\widehat{\mathrm{\φ}}}_m}{\mathrm{\θ}}_e-\frac{\widehat{\mathrm{\ω}}\left(\hat{R}-R\right)i_{\mathrm{\γ}}-\left(\hat{R}-R\right)i_{\mathrm{\δ}}-\widehat{\mathrm{\ω}}({\widehat{\mathrm{\φ}}}_m-{\mathrm{\φ}}_m)}{{\widehat{\mathrm{\φ}}}_m(p+\widehat{\mathrm{\ω}})}$

Can find out from formula 10, in order to allow the rotor position angle error theta of permagnetic synchronous motor _e, and Level off to 0, to improve the motor efficiency, reduce running noise of motor, need to adjust the stator resistance estimated value

With motor magnetic flux estimated value Based on this principle, thereby can obtain the estimation equation of above-mentioned formula 1.

Each parameter or the symbol implication of above-mentioned formula 4-10 are as follows:

α: the cut-off angular frequency of observer;

L _d, L _q: the d axle of permagnetic synchronous motor and q axle inductance;

φ _m: the motor magnetic flux of permagnetic synchronous motor;

P: differential divisor, p=d/dt;

Synchronous angular velocity frequency under the γ δ axle of permagnetic synchronous motor;

^: estimated value symbol.

The structured flowchart of the permanent magnet synchronous motor control device that the embodiment of the invention provides as shown in Figure 3, comprising: motor control unit 301, feedback unit 302, rotor position angle error estimation unit 303, current parameter of electric machine evaluation unit 304.

The initial parameter of electric machine that motor control unit 301 is used for according to pre-stored permagnetic synchronous motor, the entry into service of control permagnetic synchronous motor; The initial parameter of electric machine specifically comprises: initial motor stator resistance value R ₀, initial motor magnetic flux value

Particularly, motor control unit 301 calculates the vector voltage of motor according to the motor speed of the initial parameter of electric machine and expectation, according to the running of the vector voltage control permagnetic synchronous motor that calculates.

Feedback unit 302 is used for gathering electric current and the rotary speed information of permagnetic synchronous motor after the permagnetic synchronous motor running;

Electric current and rotary speed information that rotor position angle error estimation unit 303 is used for according to feedback unit 302 collections, the rotor position angle error of estimation permagnetic synchronous motor; And with the estimation the rotor position angle error send to current parameter of electric machine evaluation unit 304;

Particularly, for the setting cycle T of timer _s, rotor position angle error estimation unit 303 is at the setting cycle T of each timer _sDuring arrival, obtain electric current and the rotary speed information of collection from feedback unit 302, and according to the electric current that obtains and rotary speed information, the rotor position angle error of estimation permagnetic synchronous motor; The rotor position angle error of estimation is sent to current parameter of electric machine evaluation unit 304.

Rotor position angle error estimation unit 303 is according to electric current and the rotary speed information of permagnetic synchronous motor, the method of the rotor position angle error of estimation permagnetic synchronous motor is identical with the method among the above-mentioned steps S202: according to electric current and the rotary speed information of the permagnetic synchronous motor that gathers, can determine the vector current i of permagnetic synchronous motor _{γ δ}Rotational angular velocity ω with permagnetic synchronous motor; According to i _{γ δ}Can estimate the rotor position angle error of permagnetic synchronous motor with ω

Particularly, can estimate according to above-mentioned formula 1 the rotor position angle error of permagnetic synchronous motor

Current parameter of electric machine evaluation unit 304 is used for receiving the rotor position angle error of rotor position angle error estimation unit 303 estimations, according to the rotor position angle error of rotor position angle error estimation unit 303 estimations, the current parameter of electric machine of estimation permagnetic synchronous motor; And the current parameter of electric machine that will estimate sends to motor control unit 301;

Current parameter of electric machine evaluation unit 304 is according to the rotor position angle error of estimation

The method of the current parameter of electric machine of estimation permagnetic synchronous motor can be identical with the method among the above-mentioned steps S203:

The current parameter of electric machine of the permagnetic synchronous motor of estimation comprises: current motor stator resistance estimated value

With when front motor magnetic flux estimated value

Judge

Value:

If

Less than the lower limit of setting, then R _I+1=R _i+ Δ R,

If

Less than or equal to the higher limit of setting and more than or equal to the lower limit of setting, then R _I+1=R _i, ${\mathrm{\φ}}_m^{i+1}={\mathrm{\φ}}_m^i;$

With R _I+1As described current motor stator resistance estimated value

As the described front motor magnetic flux estimated value of working as

Above-mentioned R _I+1Be the motor stator resistance value of the i+1 time estimation,

Be the motor magnetic flux value of the i+1 time estimation, R _iBe the motor stator resistance value of the i time estimation,

It is the motor magnetic flux value of the i time estimation.

Motor control unit 301 is after receiving the current parameter of electric machine that current parameter of electric machine evaluation unit 304 estimates, according to the current parameter of electric machine control permagnetic synchronous motor running of estimation.Particularly, motor control unit 301 calculates the vector voltage of motor according to the motor speed of the current parameter of electric machine of estimating and expectation, according to the running of the vector voltage control permagnetic synchronous motor that calculates.

In the technical scheme of the embodiment of the invention, owing to electric current and the rotary speed information according to the permagnetic synchronous motor that feeds back, estimate the rotor position angle error; And in general, the rotor position angle error is got over small machine, and the efficiency of permagnetic synchronous motor is just higher, and the noise of motor is just less; Therefore, just can recognize according to the rotor position angle error that estimates whether the current parameter of electric machine that is used for controlling the permagnetic synchronous motor running is suitable; If improper, then suitably adjust the parameter of electric machine, namely control the permagnetic synchronous motor running with the current parameter of electric machine of estimation, to reach the purpose of dwindling the rotor position angle error, thereby also just reach the efficiency that improves permagnetic synchronous motor, reduce the purpose of the noise of permagnetic synchronous motor.Such as, when the rotor position angle error was excessive, the stator resistance of adjusting in the current parameter of electric machine diminished, and the motor magnetic flux of adjusting in the current parameter of electric machine diminishes; When the rotor position angle error was less than normal, the stator resistance of adjusting in the current parameter of electric machine became large, and the motor magnetic flux quantitative change of adjusting in the current parameter of electric machine is large.

One of ordinary skill in the art will appreciate that all or part of step that realizes in above-described embodiment method is to come the relevant hardware of instruction to finish by program, this program can be stored in the computer read/write memory medium, as: ROM/RAM, magnetic disc, CD etc.

The above only is preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (10)

1. method for controlling permanent magnet synchronous motor comprises:

After described permagnetic synchronous motor running, according to electric current and the rotary speed information of the described permagnetic synchronous motor that gathers, estimate the rotor position angle error of described permagnetic synchronous motor;

According to the rotor position angle error of estimation, estimate the current parameter of electric machine of described permagnetic synchronous motor;

Control described permagnetic synchronous motor running according to the current parameter of electric machine of estimation.

2. the method for claim 1 is characterized in that, before described permagnetic synchronous motor running, also comprises:

Obtain the initial parameter of electric machine of described permagnetic synchronous motor, and utilize the described initial parameter of electric machine to control described permagnetic synchronous motor entry into service.

3. method as claimed in claim 2 is characterized in that, the described initial parameter of electric machine specifically comprises: initial motor stator resistance value R ₀, initial motor magnetic flux value

And

The current parameter of electric machine of described estimation specifically comprises: current motor stator resistance estimated value

When front motor magnetic flux estimated value

4. method as claimed in claim 3 is characterized in that, electric current and the rotary speed information of described described permagnetic synchronous motor according to gathering estimate that the rotor position angle error of described permagnetic synchronous motor specifically comprises:

According to electric current and the rotary speed information of the described permagnetic synchronous motor that gathers, determine the vector current i of permagnetic synchronous motor _{γ δ}Rotational angular velocity ω with permagnetic synchronous motor;

According to i _{γ δ}Estimate the rotor position angle error of permagnetic synchronous motor with ω

5. method as claimed in claim 4 is characterized in that, and is described according to i _{γ δ}Estimate the rotor position angle error of permagnetic synchronous motor with ω

Be specially:

Determine according to following formula 1

${\widehat{\mathrm{\θ}}}_e\≈-p\left\{\frac{(R_i-R_0)i_{\mathrm{\γ}}-({\mathrm{\φ}}_m^i-{\mathrm{\φ}}_m^0)+\mathrm{\ω}{\mathrm{\φ}}_m^0}{{\mathrm{\φ}}_m^0}\right\}/(K_{\mathrm{p\θ}}+\frac{K_{\mathrm{I\θ}}}{p})$ (formula 1)

In the described formula 1, i is evaluation times; R _iBe the motor stator resistance value of the i time estimation, when i=0, R _iBe initial motor stator resistance value R0;

Be the motor magnetic flux value of the i time estimation, when i=0,

Be initial motor stator resistance value

i _γBe i _{γ δ}The real part current component; P is differential divisor; K _{P θ}, K _{I θ}Be the parameter that arranges; And

Described rotor position angle error according to estimation, estimate that the current parameter of electric machine of described permagnetic synchronous motor is specially:

If

Greater than the higher limit of setting, the motor stator resistance value R that then estimates for the i+1 time _I+1=R _i-Δ R, the motor magnetic flux value of the i+1 time estimation

Wherein, Δ R is predefined resistance adjustment value, Δ φ _mBe predefined magnetic flux regulated value;

If

Less than the lower limit of setting, then R _I+1=R _i+ Δ R,

If

Less than or equal to the higher limit of setting and more than or equal to the lower limit of setting, then R _I+1=R _i,

With R _I+1As described current motor stator resistance estimated value

As the described front motor magnetic flux estimated value of working as

6. method as claimed in claim 5 is characterized in that, electric current and the rotary speed information of described described permagnetic synchronous motor according to gathering are estimated the rotor position angle error of described permagnetic synchronous motor; According to the rotor position angle error of estimation, estimate the current parameter of electric machine of described permagnetic synchronous motor, be specially:

When each setting cycle arrives, according to electric current and the rotary speed information of the described permagnetic synchronous motor that gathers, estimate the rotor position angle error of described permagnetic synchronous motor; According to the rotor position angle error of estimation, estimate the current parameter of electric machine of described permagnetic synchronous motor.

7. method as claimed in claim 6 is characterized in that, described Δ R sets according to following formula 2:

Δ R=dR * T _s(formula 2)

Described Δ φ _mSet according to following formula 3:

Δ φ _m=d φ _m* T _s(formula 3)

Wherein, T _sBe described setting cycle, dR, d φ _mBe the parameter that arranges.

8. permanent magnet synchronous motor control device comprises:

Motor control unit is used for controlling described permagnetic synchronous motor entry into service according to the initial parameter of electric machine of described permagnetic synchronous motor;

Feedback unit is used for gathering electric current and the rotary speed information of described permagnetic synchronous motor after described permagnetic synchronous motor running;

Rotor position angle error estimation unit is used for electric current and rotary speed information according to described feedback unit collection, estimates the rotor position angle error of described permagnetic synchronous motor; And with the estimation the rotor position angle error send;

Current parameter of electric machine evaluation unit, be used for receiving the rotor position angle error of described rotor position angle error estimation unit estimation, according to the rotor position angle error of described rotor position angle error estimation unit estimation, estimate the current parameter of electric machine of described permagnetic synchronous motor; And the current parameter of electric machine that will estimate sends to described motor control unit;

Described motor control unit is controlled described permagnetic synchronous motor running according to the current parameter of electric machine of estimation after receiving the current parameter of electric machine that described current parameter of electric machine evaluation unit estimates.

9. device as claimed in claim 8 is characterized in that,

Described rotor position angle error estimation unit specifically is used for according to electric current and the rotary speed information that described feedback unit gathers, estimating the rotor position angle error of described permagnetic synchronous motor when each setting cycle arrives; And with the estimation the rotor position angle error send.

10. device as claimed in claim 9 is characterized in that, the described initial parameter of electric machine specifically comprises: initial motor stator resistance value R ₀, initial motor magnetic flux value

And

The current parameter of electric machine of described estimation specifically comprises: current motor stator resistance estimated value

When front motor magnetic flux estimated value

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