CN110112976B - Permanent magnet synchronous motor parameter identification method using Newton-Raphson method - Google Patents
Permanent magnet synchronous motor parameter identification method using Newton-Raphson method Download PDFInfo
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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
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
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- 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
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Abstract
The invention discloses a permanent magnet synchronous motor parameter identification method by utilizing a Newton-Raphson method, which comprises the following specific steps of: measuring on line from the moment when T is 0 to obtain a parameter signal of the permanent magnet synchronous motor under the load condition at a preset time interval T, and then obtaining an equation set of a Newton-Raphson method by utilizing the established voltage equation set; calculating the identification value of the quadrature axis reactance and the direct axis reactance at the kth time, namely the kT time by utilizing a first derivation function and a second derivation function of a Newton-Raphson method and the identification values of the quadrature axis reactance and the direct axis reactance at the kth time, namely the (k-1) T time; and 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 solved by the Newton-Raphson method at the kth time, namely the kT time so as to realize the maximization of the output of the permanent magnet synchronous motor.
Description
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 utilizing a Newton-Raphson 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.
Among the existing online motor parameter identification methods, the newton-raphson method, especially the recursive newton-raphson method, is widely applied because of its small occupied computing resources. 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 newton-raphson 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, since 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 utilizing a Newton-Raphson method, which is characterized in that parameters under the load working condition of a permanent magnet synchronous motor are measured to obtain corresponding parameters under a rotating coordinate system; solving parameters of the permanent magnet synchronous motor by utilizing a first derivation function and a second derivation function of a Newton-Raphson method; and calculating the weak magnetic control parameter value of the permanent magnet synchronous motor by using the corresponding parameter value obtained by solving according to the Newton-Raphson 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 newton-raphson method, comprising the steps of:
s1, 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 load working condition through online measurement at a preset time interval T, and further obtaining direct-axis current, alternating current, direct-axis voltage, alternating-axis voltage and electrical angular speed under a corresponding rotating coordinate system; further obtaining a voltage equation set under a rotating coordinate system of the permanent magnet synchronous motor; the voltage equation set under the rotating coordinate system of the permanent magnet synchronous motor is utilized to be arranged to obtain an equation set of a Newton-Raphson method;
s2, starting from k to 1Calculating; obtaining three-phase current, three-phase line voltage and rotating speed signals of the permanent magnet synchronous motor under the load working condition at the kth time, namely the kT time through online measurement, and further obtaining direct-axis current i under a rotating coordinate system at the kth time, namely the kT timedkAC current iqkD.d. voltage udkQuadrature axis voltage uqkAnd electrical angular velocity wek；
When the derivative value of the first derivation function at the kth time, namely the kT time is smaller than a preset first threshold value, the identification value of the quadrature axis reactance at the kth time, namely the kT time is the identification value of the quadrature axis reactance at the kth-1 time, namely the (k-1) T time; otherwise, calculating the identification value of the quadrature axis reactance at the k-th time (namely kT time) by utilizing a first derivation function of a Newton-Raphson method and the identification value of the quadrature axis reactance at the k-1-th time (namely (k-1) T time;
when the derivative value of the second derivation function at the kth time, namely the kT time is smaller than a preset first threshold value, the identification value of the direct-axis reactance at the kth time, namely the kT time is the identification value of the direct-axis reactance at the kth-1 time, namely the (k-1) T time; otherwise, calculating the identification value of the direct axis reactance at the kth time, namely the kT time by using a second derivation function of the Newton-Raphson method and the identification value of the direct axis reactance at the kth time, namely the (k-1) T time;
and S3, calculating a weak magnetic control parameter value of the permanent magnet synchronous motor at the kth time, namely the kT time by using a corresponding parameter value solved by a Newton-Raphson method at the kth time, namely the kT time 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:
wherein R iss、LdAnd LqRespectively the armature resistance, direct-axis reactance and quadrature-axis reactance psi of the permanent magnet synchronous motorfBeing a permanent-magnet synchronous machineAnd (4) a magnetic linkage value.
As a further improvement of the present invention, the system of equations of newton-raphson method:
wherein f is1(Lq) And f2(Ld) A first derivation function and a second derivation function of newton-raphson method, respectively.
As a further improvement of the present invention, the step of calculating the identification value of the quadrature axis reactance at the kth time, i.e. kT time, by using the first derivation function of newton-raphson method and the identification value of the quadrature axis reactance at the kth time, i.e. (k-1) T time, is specifically as follows:
wherein L isq(k) Is the identification value L of the quadrature axis reactance at the kth time, namely kT time of the permanent magnet synchronous motorq(k-1) is an identification value of quadrature axis reactance of the permanent magnet synchronous motor at the k-1 th time, namely (k-1) T moment; f. of1[Lq(k-1)]And f1'[Lq(k-1)]The first derivation function value and the first derivation function derivative value are respectively corresponding to the k-1 time (k-1) T time of the permanent magnet synchronous motor.
As a further improvement of the present invention, the step of calculating the identification value of the direct-axis reactance at the kth time, that is, the ktt time by using the second derivation function of the newton-raphson method and the identification value of the direct-axis reactance at the kth time, that is, (k-1) T time, is specifically:
wherein L isd(k) Is the identification value L of the direct-axis reactance at the kth time, namely the kT time of the permanent magnet synchronous motord(k-1) is an identification value of the direct axis reactance of the permanent magnet synchronous motor at the k-1 th time, namely the (k-1) T moment; f. of2[Ld(k-1)]And f2'[Ld(k-1)]A second derivation function value and a second derivation function value which are respectively corresponding to the k-1 time, namely (k-1) T time of the permanent magnet synchronous motorThe derivative value of the function.
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 algorithmd(k) And an alternating current iq(k) Current direct axis component Δ i using field weakening control feedbackd(k) Compensating to obtain a compensated direct axis current i under a kth-time kT-time rotating coordinate systemd'(k)＝id(k)+Δid(k) Further 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:
as a further improvement of the present invention, the existing control algorithm is MTPA control or sliding mode control or position-free control technology.
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 discloses a permanent magnet synchronous motor parameter identification method by utilizing a Newton-Raphson method, which obtains parameters under a corresponding rotating coordinate system by measuring the parameters under the loading working condition of a permanent magnet synchronous motor; solving parameters of the permanent magnet synchronous motor by utilizing a first derivation function and a second derivation function of a Newton-Raphson method; the weak magnetic control parameter value of the permanent magnet synchronous motor is calculated by utilizing the corresponding parameter value obtained by solving through a Newton-Raphson method, so that the maximization of the output of the permanent magnet synchronous motor is realized, the problem that in the prior art, the quadrature axis reactance parameter of the motor cannot be obtained under the condition that the parameter is completely unknown is solved, the quadrature axis reactance value of the motor in the operation process is obtained on line in real time, the calculation precision can be ensured, and meanwhile, the identification equation only uses one set of mathematical model, and the calculation amount of the algorithm is simplified.
The invention relates to a permanent magnet synchronous motor parameter identification method by utilizing a Newton-Raphson method, wherein a motor control method comprises the combination of the existing control algorithm and a weak magnetic control algorithm, the switching point of the two algorithms is compared and switched by the voltage vector amplitude value of a motor end and the voltage amplitude value of a bus, the existing control algorithm obtains the relation of two phases of current under a rotating coordinate through a voltage limit circle, a current limit ellipse and a torque equation, and the current is controlled according to the relation of the two, so that the control precision is improved, and the output torque is increased.
The invention discloses a permanent magnet synchronous motor parameter identification method by utilizing a Newton-Raphson method, which comprises the steps of approximating by recursion of the Newton-Raphson method to obtain a group of resistance and reactance values which are closer to actual values, updating a newly calculated substituted value of reactance in the identification process, calculating the reactance value again according to a parameter identification equation, continuously substituting the new reactance value into a mathematical equation group for parameter identification according to the calculation process for iteration, and continuously obtaining model output quantities which are closer to the actual direct-axis reactance and quadrature-axis reactance actual values of a permanent magnet synchronous motor than the previous time until the actual values of the permanent magnet synchronous motor are calculated.
Drawings
Fig. 1 is a schematic diagram of a permanent magnet synchronous motor parameter identification method using newton-raphson method according to a preferred embodiment of the present invention;
fig. 2(a) and 2(b) are identification values of direct-axis reactance and quadrature-axis reactance, respectively, 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 newton-raphson method according to an embodiment of the present invention. As shown in fig. 1, a method for identifying parameters of a permanent magnet synchronous motor by using a newton-raphson method includes the following specific steps:
s1, 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 load working condition through online measurement at a preset time interval T, and further obtaining direct-axis current, alternating current, direct-axis voltage, alternating-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:
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.
And (3) obtaining an equation set of a Newton-Raphson method by utilizing a voltage equation set under a rotating coordinate system of the permanent magnet synchronous motor:
wherein f is1(Lq) And f2(Ld) A first derivation function and a second derivation function which are respectively Newton-Raphson method;
in particular, in order to realize the direct axis inductance LdAnd quadrature axis inductance LqThe parameter online identification is based on the Newton-Raphson method in the field of mathematics. The traditional newton-raphson method is: selecting a zero x of a proximity function0Calculating the corresponding function f (x)0) And its corresponding tangent slope f' (x)0) (here f' (x)0) Denotes f (x)0) Derivative of (x), calculating a crossing point (x)0,f(x0) And a slope of f' (x)0) The x coordinate of the intersection of the line of (a) and the x axis, i.e. solving the equation: f (x)0)＝(x0-x)f'(x0) (ii) a Iterative formula using Newton-Raphson method
Performing a solution to the iterative calculation equation, it has been shown that there is a neighborhood around the zero point x, as long as the initial value x is0Within this neighborhood, Newton-Raphson must converge.
S2, starting calculation from k to 1; obtaining three-phase current, three-phase line voltage and rotating speed signals of the permanent magnet synchronous motor under the load working condition at the kth time, namely the kT time through online measurement, and further obtaining direct-axis current i under a rotating coordinate system at the kth time, namely the kT timedkAC current iqkD.d. voltage udkQuadrature axis voltage uqkAnd electrical angular velocity wek；
When the derivative value of the first derivation function at the kth time, namely kT time is smaller than a preset first threshold value, Lq(k)＝Lq(k-1); otherwise, calculating the identification value of the quadrature axis reactance at the k-th time and the kT time by using the first derivation function of the Newton-Raphson method and the identification value of the quadrature axis reactance at the k-1-th time and the (k-1) T time:
current time of dayL when the derivative value of the second derivation function is less than a preset second threshold valued(k)＝Ld(k) (ii) a Otherwise, calculating the identification value of the direct-axis reactance at the kth time and the kth time (k-1) T by using a second derivation function of the Newton-Raphson method and the identification value of the direct-axis reactance at the kth time and the (k-1) T time:
wherein L isq(k) And Ld(k) Respectively the identification values of quadrature axis reactance and direct axis reactance at the kth time, namely kT time of the permanent magnet synchronous motor, Lq(k-1) and Ld(k-1) respectively identifying values of quadrature axis reactance and direct axis reactance of the permanent magnet synchronous motor at the k-1 th time, namely (k-1) T moment; f. of1[Lq(k-1)]And f1'[Lq(k-1)]A first derivation function value and a first derivation function derivative value which are respectively corresponding to the k-1 time, namely (k-1) T time of the permanent magnet synchronous motor; f. of2[Ld(k-1)]And f2'[Ld(k-1)]A second derivation function value and a second derivation function derivative value which are respectively corresponding to the k-1 time, namely (k-1) T time of the permanent magnet synchronous motor; l isq(0)、Ld(0)、f1[Lq(0)]、f1'[Lq(0)]、f2[Ld(0)]And f2'[Ld(0)]Respectively, given initial values.
And S3, calculating a weak magnetic control parameter value of the permanent magnet synchronous motor at the kth time, namely the kT time by using a corresponding parameter value solved by a Newton-Raphson method at 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 algorithmd(k) And an alternating current iq(k) Current direct axis component Δ i using field weakening control feedbackd(k) Compensating to obtain a compensated direct axis current i under a kth-time kT-time rotating coordinate systemd'(k)＝id(k)+Δid(k) Further 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:
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 |
Setting initial value of parameter to be identified, wherein setting initial value Ld(0) 8mH and Lq(0) 8mH, and obtaining a corresponding state recognition equation set.
Fig. 2(a) and 2(b) are identification values of direct-axis reactance and quadrature-axis reactance, respectively, of a permanent magnet synchronous motor according to a preferred embodiment of the present invention. As shown in fig. 2(a) and 2(b), the accuracy of the algorithm identification result obtained through simulation is verified.
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 by utilizing a Newton-Raphson method is characterized by comprising the following specific steps:
s1, 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 load working condition through online measurement at a preset time interval T, and further obtaining direct-axis current, alternating current, direct-axis voltage, alternating-axis voltage and electrical angular speed under a corresponding rotating coordinate system; further obtaining a voltage equation set under a rotating coordinate system of the permanent magnet synchronous motor; the voltage equation set under the rotating coordinate system of the permanent magnet synchronous motor is utilized to be arranged to obtain an equation set of a Newton-Raphson method;
s2, starting calculation from k to 1; obtaining three-phase current, three-phase line voltage and rotating speed signals of the permanent magnet synchronous motor under the load working condition at the kth time, namely the kT time through online measurement, and further obtaining direct-axis current i under a rotating coordinate system at the kth time, namely the kT timedkAC current iqkD.d. voltage udkQuadrature axis voltage uqkAnd electrical angular velocity wek；
When the derivative value of the first derivation function at the kth time, namely the kT time is smaller than a preset first threshold value, the identification value of the quadrature axis reactance at the kth time, namely the kT time is the identification value of the quadrature axis reactance at the kth-1 time, namely the (k-1) T time; otherwise, calculating the identification value of the quadrature axis reactance at the k-th time (namely kT time) by utilizing a first derivation function of a Newton-Raphson method and the identification value of the quadrature axis reactance at the k-1-th time (namely (k-1) T time;
when the derivative value of the second derivation function at the kth time, namely the kT time is smaller than a preset first threshold value, the identification value of the direct-axis reactance at the kth time, namely the kT time is the identification value of the direct-axis reactance at the kth-1 time, namely the (k-1) T time; otherwise, calculating the identification value of the direct axis reactance at the kth time, namely the kT time by using a second derivation function of the Newton-Raphson method and the identification value of the direct axis reactance at the kth time, namely the (k-1) T time;
and S3, calculating a weak magnetic control parameter value of the permanent magnet synchronous motor at the kth time, namely the kT time by using a corresponding parameter value solved by a Newton-Raphson method at the kth time, namely the kT time so as to realize the maximization of the output of the permanent magnet synchronous motor.
2. The method for identifying parameters of a permanent magnet synchronous motor according to claim 1, wherein 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:
wherein R iss、LdAnd LqRespectively an armature resistance, a direct-axis reactance and a quadrature-axis reactance, psi, of the permanent magnet synchronous motorfIs the flux linkage value of the permanent magnet synchronous motor.
3. The method for identifying the parameters of the permanent magnet synchronous motor by utilizing the Newton-Raphson method as claimed in claim 2, wherein the equation set of the Newton-Raphson method is as follows:
wherein f is1(Lq) And f2(Ld) A first derivation function and a second derivation function of newton-raphson method, respectively.
4. The method for identifying parameters of a pmsm using newton-raphson method according to claim 3, wherein the step of calculating the value of the quadrature axis reactance at the kth time (kT) time using the first derivation function of newton-raphson method and the value of the quadrature axis reactance at the kth time (k-1) T is specifically:
wherein L isq(k) Is the identification value L of the quadrature axis reactance at the kth time, namely kT time of the permanent magnet synchronous motorq(k-1) is an identification value of quadrature axis reactance of the permanent magnet synchronous motor at the k-1 th time, namely (k-1) T moment; f. of1[Lq(k-1)]And f1'[Lq(k-1)]The first derivation function value and the first derivation function derivative value are respectively corresponding to the k-1 time (k-1) T time of the permanent magnet synchronous motor.
5. The method for identifying parameters of a pmsm using newton-raphson method as claimed in claim 4, wherein the step of calculating the identification value of the dc reactance at kth time (kT time) using the second derivation function of newton-raphson method and the identification value of the dc reactance at kth time (k-1) T time is specifically:
wherein L isd(k) Is the identification value L of the direct-axis reactance at the kth time, namely the kT time of the permanent magnet synchronous motord(k-1) is an identification value of the direct axis reactance of the permanent magnet synchronous motor at the k-1 th time, namely the (k-1) T moment; f. of2[Ld(k-1)]And f2'[Ld(k-1)]A second derivation function value and a second derivation function derivative which are respectively corresponding to the k-1 th time, namely (k-1) T time of the permanent magnet synchronous motorNumerical values.
6. The method for identifying parameters of a PMSM according to claim 5, wherein step S3 specifically includes:
calculating the direct axis current i under the rotation coordinate system at the kth time, namely the kT time by using a control algorithmd(k) And an alternating current iq(k) Current direct axis component Δ i using field weakening control feedbackd(k) Compensating to obtain a compensated direct axis current i under a kth-time kT-time rotating coordinate systemd'(k)＝id(k)+Δid(k) Further 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:
7. the PMSM parameter identification method using Newton-Raphson method according to claim 6, wherein the control algorithm is MTPA control or sliding mode control or no position control technology.
8. The method as claimed in claim 6, wherein the permanent magnet synchronous motor is determined whether entering the field weakening region by comparing the terminal voltage of the permanent magnet synchronous motor with the maximum allowable bus voltage.
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