CN110098773B - Permanent magnet synchronous motor parameter identification method using least square method - Google Patents

Permanent magnet synchronous motor parameter identification method using least square method Download PDF

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CN110098773B
CN110098773B CN201910408024.3A CN201910408024A CN110098773B CN 110098773 B CN110098773 B CN 110098773B CN 201910408024 A CN201910408024 A CN 201910408024A CN 110098773 B CN110098773 B CN 110098773B
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permanent magnet
synchronous motor
magnet synchronous
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square method
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CN110098773A (en
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杨凯
徐蕴镠
孙宋君
徐百川
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Huazhong University of Science and Technology
Shenzhen Huazhong University of Science and Technology Research Institute
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Huazhong University of Science and Technology
Shenzhen Huazhong University of Science and Technology Research Institute
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

Abstract

The invention discloses a permanent magnet synchronous motor parameter identification method by using a least square method, which comprises the following specific steps: measuring parameters of the permanent magnet synchronous motor under a first stable load working condition to obtain parameters under a corresponding rotating coordinate system; starting from the moment when T is 0, measuring parameters of the permanent magnet synchronous motor under a second loading working condition on line at a preset time interval T to obtain parameters under a corresponding rotating coordinate system; solving a solving matrix of a k-th time (namely a solving matrix of the least square method at the kT moment) by utilizing a first derivation matrix, a second derivation matrix, a first intermediate matrix and a second intermediate matrix of the least square method; and calculating the weak magnetic control parameter value of the permanent magnet synchronous motor at the kth time, namely the kT time by using the corresponding parameter value of the solving matrix of the kth time, namely the kT time least square method so as to realize the maximization of the output of the permanent magnet synchronous motor.

Description

Permanent magnet synchronous motor parameter identification method using least square method
Technical Field
The invention belongs to the field of permanent magnet motors, and particularly relates to a permanent magnet synchronous motor parameter identification method by using a least square method.
Background
The permanent magnet synchronous motor is a synchronous motor which generates a synchronous rotating magnetic field by permanent magnet excitation, the permanent magnet is used as a rotor to generate a rotating magnetic field, and a three-phase stator winding is reacted through an armature under the action of the rotating magnetic field to induce three-phase symmetrical current. At the moment, the kinetic energy of the rotor is converted into electric energy, and the permanent magnet synchronous motor is used as a generator; in addition, when three-phase symmetrical current is introduced to the stator side, the three-phase stator current has a phase difference of 120 in the spatial position, so that a rotating magnetic field is generated in the space by the three-phase stator current, the rotor rotates under the action of electromagnetic force, electric energy is converted into kinetic energy at the moment, and the permanent magnet synchronous motor is used as a motor.
In the operation process of the permanent magnet synchronous motor, along with the changes of the load and the ambient temperature of the permanent magnet synchronous motor, the parameters of the armature resistance, the direct-axis reactance and the quadrature-axis reactance of the permanent magnet synchronous motor can change along with the operation of the permanent magnet synchronous motor, so that the suitable parameter online identification method is very important for a high-precision permanent magnet synchronous motor control system.
In the existing motor parameter online identification method, the least square method, especially the recursion least square method, is widely applied due to the fact that the occupied operation resources are few. However, in the conventional identification method, because only two independent voltage equations are provided based on the rotating coordinate system, it is difficult to identify three unknowns of the armature resistance, the direct-axis reactance, and the quadrature-axis reactance of the permanent magnet synchronous motor. The invention patent 201410572637.8 proposes a method for identifying armature resistance, direct axis reactance and quadrature axis reactance by a least square method, which is characterized in that a first mathematical model and a second mathematical model are established, iteration is performed according to a specific logic sequence of the models, however, because the establishment of the first mathematical model is based on the condition that the initial value of the armature resistance is known, the selection of the initial value has higher requirements.
Disclosure of Invention
Aiming at the defects or improvement requirements in the prior art, the invention provides a permanent magnet synchronous motor parameter identification method by using a least square method, which obtains parameters under corresponding rotating coordinate systems by measuring the parameters of a permanent magnet synchronous motor under two loading working conditions; solving a solving matrix of the least square method by utilizing a first derivation matrix, a second derivation matrix, a first intermediate matrix and a second intermediate matrix of the least square method; and calculating the weak magnetic control parameter value of the permanent magnet synchronous motor by using the corresponding parameter value of the solving matrix of the least square method so as to realize the maximization of the output of the permanent magnet synchronous motor.
In order to achieve the above object, according to an aspect of the present invention, there is provided a method for identifying parameters of a permanent magnet synchronous motor using a least square method, comprising the steps of:
s1, measuring three-phase current, three-phase line voltage and rotating speed signals of a permanent magnet synchronous motor under a first stable load working condition, further obtaining direct-axis current, alternating current, direct-axis voltage, quadrature-axis voltage and electrical angular speed under a corresponding rotating coordinate system, and further obtaining a voltage equation set under the corresponding rotating coordinate system of the permanent magnet synchronous motor;
s2, from the moment when T is 0, obtaining three-phase current, three-phase line voltage and rotating speed signals of the permanent magnet synchronous motor under a second loading working condition through online measurement at a preset time interval T, further obtaining direct-axis current, alternating current, direct-axis voltage, quadrature-axis voltage and electrical angular speed under a corresponding rotating coordinate system, and further obtaining a voltage equation set under the corresponding rotating coordinate system of the permanent magnet synchronous motor;
the method comprises the steps that voltage equation sets under two groups of permanent magnet synchronous motor rotating coordinate systems are utilized to be arranged to obtain an equation set of a least square method, and a first derivation matrix and a second derivation matrix of the least square method are further obtained;
calculating from k to 1, and respectively solving a solving matrix of a k-th time (namely a solving matrix of a kT time) least square method by using a first derivation matrix, a second derivation matrix, a first intermediate matrix and a second intermediate matrix of the least square method;
and S3, calculating a weak magnetic control parameter value of the permanent magnet synchronous motor at the kth time and the kT time by using a corresponding parameter value of a solving matrix of a k-th time and kT time least square method so as to realize the maximization of the output of the permanent magnet synchronous motor.
As a further improvement of the present invention, step S1 specifically includes:
obtaining a direct axis current i under a rotating coordinate system through Park transformationdAC current iqD.d. voltage udQuadrature axis voltage uqAnd electrical angular velocity weAnd further obtaining a voltage equation set under a rotating coordinate system of the permanent magnet synchronous motor as follows:
Figure BDA0002061879650000021
wherein R iss、LdAnd LqRespectively the armature resistance, direct-axis reactance and quadrature-axis reactance psi of the permanent magnet synchronous motorfIs the flux linkage value of the permanent magnet synchronous motor.
As a further improvement of the present invention, the system of equations of the least squares method:
Figure BDA0002061879650000031
wherein u isd1、uq1、id1、iq1And we1Respectively corresponding direct axis voltage value, quadrature axis voltage value, direct axis current value, quadrature axis current value and electric angular velocity value of the permanent magnet synchronous motor under a first loading working condition; u. ofd2、uq2、id2、iq2And we2Respectively is a direct axis voltage value, a quadrature axis voltage value, a direct axis current value, a quadrature axis current value and an electric angular velocity value corresponding to the permanent magnet synchronous motor under the second load working condition.
As a further improvement of the present invention, the first derivation matrix of the least squares method is:
Figure BDA0002061879650000032
ud2,k、uq2,k、id2,k、iq2,kand we2,kRespectively carrying out online measurement on a direct axis voltage value, a quadrature axis voltage value, a direct axis current value, a quadrature axis current value and an electric angular velocity value at the kth time, namely the kT time under a second loading working condition of the permanent magnet synchronous motor;
the second derivation matrix of the least squares method is:
Figure BDA0002061879650000033
the solving matrix of the least square method is as follows:
Figure BDA0002061879650000034
Rsk、Ldkand LqkAnd the values of the armature resistance, the direct-axis reactance and the quadrature-axis reactance are respectively calculated at the kth time, namely the kT time of the permanent magnet synchronous motor.
As a further improvement of the present invention, the solving matrix for solving the least square method by using the first derivation matrix, the second derivation matrix, the first intermediate matrix γ (k) and the second intermediate matrix P (k) of the least square method is specifically:
Figure BDA0002061879650000035
Figure BDA0002061879650000041
P(k)＝[I-γ(k)ΨT(k)]P(k-1)
wherein the content of the first and second substances,
Figure BDA0002061879650000042
and P (0) is a given initial value, I is a unit docking matrix, α is a given unit coefficient, the unit docking matrix I is solved by utilizing P (0) to α I, as an example, α is 100 or 1000 or 10000, P (k-1), α is a given unit coefficient, and the unit docking matrix I is obtained by utilizing the method,
Figure BDA0002061879650000043
And Ψ (k-1) is a second intermediate matrix, a solving matrix and a second derivation matrix corresponding to the k-1 st time (k-1) T time respectively, ΨT(k) And ΨT(k-1) are the transposes of Ψ (k) and Ψ (k-1), respectively.
As a further improvement of the present invention, step S3 specifically includes:
calculating the direct axis current i under the kth time, namely the kT time rotating coordinate system by using the existing control algorithmdkAnd an alternating current iqkCurrent direct axis component Δ i using field weakening control feedbackdCompensating to obtain a compensated direct axis current i under a kth-time kT-time rotating coordinate systemdk'＝idk+ΔidkFurther calculating to obtain a direct-axis voltage value u of weak magnetic control of the permanent magnet synchronous motor at k times, namely kT time* dkAnd quadrature axis voltage value u* qkComprises the following steps:
Figure BDA0002061879650000044
as a further improvement of the present invention, the existing control algorithm may be MTPA control or sliding mode control or position-free control technique.
As a further improvement of the invention, whether the permanent magnet synchronous motor enters a field weakening area is judged by comparing the terminal voltage of the permanent magnet synchronous motor with the maximum allowable bus voltage.
Generally, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:
the invention relates to a permanent magnet synchronous motor parameter identification method by using a least square method, which obtains parameters under a corresponding rotating coordinate system by measuring the parameters of a permanent magnet synchronous motor under two loading working conditions; solving a solving matrix of the least square method by utilizing a first derivation matrix, a second derivation matrix, a first intermediate matrix and a second intermediate matrix of the least square method; the weak magnetic control parameter value of the permanent magnet synchronous motor is calculated by utilizing the corresponding parameter value of the solving matrix of the least square method, so that the maximization of the output of the permanent magnet synchronous motor is realized, the problem that the armature resistance, the direct-axis reactance and the quadrature-axis reactance parameters of the motor cannot be obtained under the condition that the parameters are completely unknown in the prior art is solved, the armature resistance, the direct-axis reactance and the quadrature-axis reactance values of the motor in the operation process are obtained on line in real time, the calculation precision can be ensured, and meanwhile, only one set of mathematical model is used for identifying an equation, and the calculation amount of the algorithm is simplified.
The invention relates to a permanent magnet synchronous motor parameter identification method by using a least square method, wherein a motor control method comprises the steps of combining the existing control algorithm and a weak magnetic control algorithm, comparing and switching a voltage vector amplitude value of a motor end and a voltage amplitude value of a bus through switching points of the two algorithms, obtaining a relation of two phases of currents under a rotating coordinate through a voltage limit circle, a current limit ellipse and a torque equation by the existing control algorithm, and controlling the currents according to the relation of the two phases of currents, so that the control precision is improved, and the output torque is increased.
The invention relates to a permanent magnet synchronous motor parameter identification method by using a least square method, which selects two loaded operating conditions to respectively establish a direct-axis voltage equation and a quadrature-axis voltage equation, an equation set for iteration is established through four equations, initial values of resistance and reactance which are set randomly are substituted into the equation set, approximating by recursion least square method to obtain a group of resistance and reactance values closer to the true values, in the identification process, newly calculated substituted values of the resistance and the reactance are updated, the resistance and the reactance are calculated again according to the parameter identification equation, new resistance and new reactance values are continuously substituted into a mathematical equation set for parameter identification according to the calculation process to carry out iteration, and model output quantities which are closer to actual armature resistance, direct-axis reactance and quadrature-axis reactance values of the permanent magnet synchronous motor than the previous time are continuously obtained until the actual values of the permanent magnet synchronous motor are calculated.
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Fig. 1 is a schematic diagram of a permanent magnet synchronous motor parameter identification method using a least square method according to a preferred embodiment of the present invention;
fig. 2(a), 2(b) and 2(c) are respectively identification values of an armature resistance, a direct-axis reactance and a quadrature-axis reactance of a permanent magnet synchronous motor according to a preferred embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other. The present invention will be described in further detail with reference to specific embodiments.
Fig. 1 is a schematic diagram of a permanent magnet synchronous motor parameter identification method using a least square method according to a preferred embodiment of the present invention. As shown in fig. 1, a method for identifying parameters of a permanent magnet synchronous motor by using a least square method includes the following specific steps:
s1, measuring three-phase current, three-phase line voltage and rotating speed signals of a permanent magnet synchronous motor under a first stable load working condition, and further obtaining direct-axis current, alternating current, direct-axis voltage, quadrature-axis voltage and electrical angular speed under a corresponding rotating coordinate system;
obtaining direct axis current, alternating current, phase direct axis voltage, phase intersecting axis voltage and electrical angular velocity under a rotating coordinate system through Park transformation by utilizing three-phase current, three-phase line voltage and rotating speed signals of the permanent magnet synchronous motor, and further obtaining a voltage equation set under the rotating coordinate system of the permanent magnet synchronous motor;
specifically, a direct-axis current i under a rotating coordinate system is obtained through Park transformationdAC current iqD.d. voltage udQuadrature axis voltage uqAnd electrical angular velocity weAnd further obtaining a voltage equation set under a rotating coordinate system of the permanent magnet synchronous motor as follows:
Figure BDA0002061879650000061
wherein R iss、LdAnd LqRespectively the armature resistance, direct-axis reactance and quadrature-axis reactance psi of the permanent magnet synchronous motorfIs the flux linkage value of the permanent magnet synchronous motor. As an example, in the case of a permanent magnet synchronous machine without a voltage sensor, the direct axis voltage udAnd quadrature axis voltage uqIs a given value.
S2, from the moment when T is 0, obtaining three-phase current, three-phase line voltage and rotating speed signals of the permanent magnet synchronous motor under a second loading working condition through online measurement at a preset time interval T, and further obtaining direct-axis current, alternating current, direct-axis voltage, quadrature-axis voltage and electrical angular speed under a corresponding rotating coordinate system;
the method comprises the following steps of (1) obtaining an equation set of a least square method by utilizing a voltage equation set under two groups of permanent magnet synchronous motor rotating coordinate systems:
Figure BDA0002061879650000062
wherein u isd1、uq1、id1、iq1And we1Respectively corresponding direct axis voltage value, quadrature axis voltage value, direct axis current value, quadrature axis current value and electric angular velocity value of the permanent magnet synchronous motor under a first loading working condition; u. ofd2、uq2、id2、iq2And we2Respectively corresponding direct axis voltage value, quadrature axis voltage value, direct axis current value, quadrature axis current value and electric angular velocity value of the permanent magnet synchronous motor under a second load working condition;
the first derivation matrix of the least squares method is:
Figure BDA0002061879650000071
ud2,k、uq2,k、id2,k、iq2,kand we2,kRespectively carrying out online measurement on a direct axis voltage value, a quadrature axis voltage value, a direct axis current value, a quadrature axis current value and an electric angular velocity value at the kth time, namely the kT time under a second loading working condition of the permanent magnet synchronous motor;
the second derivation matrix of the least squares method is:
Figure BDA0002061879650000072
the solving matrix of the least square method is as follows:
Figure BDA0002061879650000073
Rsk、Ldkand LqkArmature resistance, direct-axis reactance and quadrature-axis reactance values which are respectively obtained by k time, namely kT time calculation of the permanent magnet synchronous motor;
starting from k to 1, calculating a solving matrix of the least square method by using a first derivation matrix, a second derivation matrix, a first intermediate matrix gamma (k) and a second intermediate matrix P (k) of the least square method respectively, specifically:
Figure BDA0002061879650000074
Figure BDA0002061879650000075
P(k)＝[I-γ(k)ΨT(k)]P(k-1)
wherein the content of the first and second substances,
Figure BDA0002061879650000076
and P (0) is a given initial value, I is a unit docking matrix, α is a given unit coefficient, the unit docking matrix I is solved by utilizing P (0) to α I, as an example, α is 100 or 1000 or 10000, P (k-1), α is a given unit coefficient, and the unit docking matrix I is obtained by utilizing the method,
Figure BDA0002061879650000077
And Ψ (k-1) is a second intermediate matrix, a solving matrix and a second derivation matrix corresponding to the k-1 st time (k-1) T time respectively, ΨT(k) And ΨT(k-1) are the transpose matrices of Ψ (k) and Ψ (k-1), respectively;
and S3, calculating the flux weakening control parameter value of the permanent magnet synchronous motor at the kth time, namely the kT time by using the corresponding parameter value of the solving matrix obtained by calculating the kth time, namely the kT time, so as to realize the maximization of the output of the permanent magnet synchronous motor.
Specifically, the direct-axis current i under the kth time, namely the kT time rotating coordinate system is calculated by using the existing control algorithmdkAnd an alternating current iqkCurrent direct axis component Δ i using field weakening control feedbackdkCompensating to obtain a compensated direct axis current i under a kth-time kT-time rotating coordinate systemdk'＝idk+ΔidkFurther calculating to obtain a direct-axis voltage value u of weak magnetic control of the permanent magnet synchronous motor at k times, namely kT time* dkAnd quadrature axis voltage value u* qkComprises the following steps:
Figure BDA0002061879650000081
as an example, the existing control algorithm may be MTPA control, or sliding mode control, or a position-free control technique such as constructing a flux linkage observer or sliding mode observer or model reference adaptive observer; whether the permanent magnet synchronous motor enters a weak magnetic area can be judged by comparing the terminal voltage of the permanent magnet synchronous motor with the maximum allowable bus voltage.
Table 1 shows the basic parameters of the permanent magnet synchronous motor according to the embodiment of the present invention. As shown in table 1, taking a permanent magnet synchronous motor as an example, corresponding simulation verification is performed in MATLAB/SIMULINK software, and the basic relevant parameters of the motor are shown in table 1.
Table 1 basic relevant parameters of a permanent magnet synchronous machine according to an embodiment of the present invention
Parameters of the electric machine Value of parameter
Armature resistance Rs 1.65Ω
Direct axis reactance Ld 7.75mH
Quadrature axis reactance Lq 7.7mH
Permanent magnet flux linkage psif 0.208Wb
Giving initial values of the parameters to be identified, where the initial values are given
Figure BDA0002061879650000082
And P (0), and adding a small disturbance to enter another operation state when the simulation time is 2s, thereby obtaining a corresponding state identification equation set.
Fig. 2(a) -2(c) are respectively the identification values of the armature resistance, the direct-axis reactance and the quadrature-axis reactance of the permanent magnet synchronous motor according to the preferred embodiment of the present invention. As shown in FIGS. 2(a) -2(c), the accuracy of the algorithm identification results obtained by simulation was verified, where LqThe relative error of the identification result of (2) is larger, but the relative error is also kept within 1%.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (8)

1. A permanent magnet synchronous motor parameter identification method using a least square method is characterized by comprising the following specific steps:
s1, measuring three-phase current, three-phase line voltage and rotating speed signals of a permanent magnet synchronous motor under a first stable load working condition, further obtaining direct-axis current, alternating current, direct-axis voltage, quadrature-axis voltage and electrical angular speed under a corresponding rotating coordinate system, and further obtaining a voltage equation set under the corresponding rotating coordinate system of the permanent magnet synchronous motor;
s2, from the moment when T is 0, obtaining three-phase current, three-phase line voltage and rotating speed signals of the permanent magnet synchronous motor under a second loading working condition through online measurement at a preset time interval T, further obtaining direct-axis current, alternating current, direct-axis voltage, quadrature-axis voltage and electrical angular speed under a corresponding rotating coordinate system, and further obtaining a voltage equation set under the corresponding rotating coordinate system of the permanent magnet synchronous motor;
the method comprises the steps that voltage equation sets under two groups of permanent magnet synchronous motor rotating coordinate systems are utilized to be arranged to obtain an equation set of a least square method, and a first derivation matrix and a second derivation matrix of the least square method are further obtained;
calculating from k to 1, and respectively solving a solving matrix of a k-th time (namely a solving matrix of a kT time) least square method by using a first derivation matrix, a second derivation matrix, a first intermediate matrix and a second intermediate matrix of the least square method;
and S3, calculating a weak magnetic control parameter value of the permanent magnet synchronous motor at the kth time and the kT time by using a corresponding parameter value of a solving matrix of a k-th time and kT time least square method so as to realize the maximization of the output of the permanent magnet synchronous motor.
2. The permanent magnet synchronous motor parameter identification method using the least square method as claimed in claim 1, wherein the step S1 specifically comprises:
obtaining a direct axis current i under a rotating coordinate system through Park transformationdAC current iqD.d. voltage udQuadrature axis voltage uqAnd electrical angular velocity weAnd further obtaining a voltage equation set under a rotating coordinate system of the permanent magnet synchronous motor as follows:
Figure FDA0002340924890000011
wherein R iss、LdAnd LqRespectively the armature resistance, direct-axis reactance and quadrature-axis reactance psi of the permanent magnet synchronous motorfIs the flux linkage value of the permanent magnet synchronous motor.
3. The permanent magnet synchronous motor parameter identification method by using the least square method as claimed in claim 2, wherein the equation set of the least square method is as follows:
Figure FDA0002340924890000021
wherein u isd1、uq1、id1、iq1And we1Respectively corresponding direct axis voltage value, quadrature axis voltage value, direct axis current value, quadrature axis current value and electric angular velocity value of the permanent magnet synchronous motor under a first loading working condition; u. ofd2、uq2、id2、iq2And we2Respectively is a direct axis voltage value, a quadrature axis voltage value, a direct axis current value, a quadrature axis current value and an electric angular velocity value corresponding to the permanent magnet synchronous motor under the second load working condition.
4. The method for identifying the parameters of the permanent magnet synchronous motor by using the least square method as claimed in claim 3, wherein the first derivation matrix of the least square method is as follows:
Figure FDA0002340924890000022
ud2,k、uq2,k、id2,k、iq2,kand we2,kRespectively carrying out online measurement on a direct axis voltage value, a quadrature axis voltage value, a direct axis current value, a quadrature axis current value and an electric angular velocity value at the kth time, namely the kT time under a second loading working condition of the permanent magnet synchronous motor;
the second derivation matrix of the least squares method is:
Figure FDA0002340924890000023
the solving matrix of the least square method is as follows:
Figure FDA0002340924890000024
Rsk、Ldkand LqkAnd the values of the armature resistance, the direct-axis reactance and the quadrature-axis reactance are respectively calculated at the kth time, namely the kT time of the permanent magnet synchronous motor.
5. The method for identifying parameters of a permanent magnet synchronous motor by using a least square method as claimed in claim 4, wherein the solving matrix for solving the least square method by using the first derivation matrix, the second derivation matrix, the first intermediate matrix γ (k) and the second intermediate matrix P (k) of the least square method is specifically as follows:
Figure FDA0002340924890000031
Figure FDA0002340924890000032
P(k)＝[I-γ(k)ΨT(k)]P(k-1)
wherein the content of the first and second substances,
Figure FDA0002340924890000033
p (0) is a given initial value, I is a unit docking matrix, α is a given unit coefficient, and the unit docking matrix I is solved by utilizing the condition that P (0) is α I, P (k-1),
Figure FDA0002340924890000034
And Ψ (k-1) is a second intermediate matrix, a solving matrix and a second derivation matrix corresponding to the k-1 st time (k-1) T time respectively, ΨT(k) And ΨT(k-1) are the transposes of Ψ (k) and Ψ (k-1), respectively.
6. The permanent magnet synchronous motor parameter identification method using the least square method according to claim 4 or 5, wherein the step S3 specifically comprises:
calculating the direct axis current i under the kth time, namely the kT time rotating coordinate system by using the existing control algorithmdkAnd an alternating current iqkusing the current direct-axis component Deltai of weak magnetic control feedbackdCompensating to obtain a compensated direct axis current i under a kth-time kT-time rotating coordinate systemdk'＝idk+△idkFurther calculating to obtain a direct-axis voltage value u of weak magnetic control of the permanent magnet synchronous motor at k times, namely kT time* dkAnd quadrature axis voltage value u* qkComprises the following steps:
Figure FDA0002340924890000035
7. the method for identifying the parameters of the PMSM using the least square method as claimed in claim 6, wherein the existing control algorithm can be MTPA control or sliding mode control or position-free control technology.
8. The method as claimed in claim 6, wherein the permanent magnet synchronous motor is determined whether entering the field weakening area by comparing the terminal voltage of the permanent magnet synchronous motor with the maximum allowable bus voltage.
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