CN111224598B - Method for simultaneously identifying parameter saturation values of permanent magnet motor - Google Patents
Method for simultaneously identifying parameter saturation values of permanent magnet motor 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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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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
- H02P21/141—Flux estimation
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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
- H02P21/16—Estimation of constants, e.g. the rotor time constant
Abstract
The invention relates to the technical field of motor control, in particular to a method for simultaneously identifying parameter saturation values of a permanent magnet motor. The method comprises the following steps: dragging the permanent magnet motor to a determined rotating speed; setting dq axis current settings, each setting containing a DC setting and an AC setting; giving and feeding back the current of the dq axis, controlling the actual stator current through a composite current controller, and tracking the given current including the alternating current component; calculating an equivalent value of the output reactive power of the alternating-current and direct-current axes when the current control is stable; when the current control is stable, calculating an equivalent value of an alternating current component in the alternating current and the direct current; calculating an equivalent value of the motor output torque when the current control is stable; simultaneously calculating saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under the given current of the current dq axis; and (3) changing dq axis current setting, and repeating calculation to obtain saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under different stator currents.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a method for simultaneously identifying parameter saturation values of a permanent magnet motor.
Background
Along with the wider and wider application of the permanent magnet synchronous motor control system, the control method is mature, and the main involved parts of the method are MTPA control and field weakening control. The application of these methods often requires three important permanent magnet motor parameters: quadrature axis inductance, direct axis inductance, rotor flux linkage. Inductive parameters are usually identified by adopting an impedance method principle, and rotor flux linkage is identified by adopting a voltage detection principle. However, in the existing permanent magnet motor parameter testing or identification method, most of the saturation values of the three parameters under different stator currents are not considered, and only the parameter value under a specific load is usually tested. The saturation characteristics of the inductance are considered, but the influence of the saturation condition of the rotor permanent magnet is not considered, and the alternating-axis and direct-axis inductance needs to be tested and identified respectively. In addition, the existing identification technology has low precision when the impedance method principle is applied.
The invention patent application of China with the patent application number of 201810428845.9 discloses an on-line identification method for the parameter saturation coefficient of an electrically excited synchronous motor, particularly monitors the voltage at the machine end and the armature current, and can ensure the accuracy of the result by applying a hybrid artificial intelligence algorithm and reasonably setting an optimized objective function. But the obtained saturation coefficient parameter index is relatively single.
Disclosure of Invention
The invention aims to provide a method for simultaneously identifying parameter saturation values of a permanent magnet motor, which can simultaneously identify quadrature axis inductances, direct axis inductances and rotor flux linkages under different stator currents. Three parameter tables formed by the saturated values of the parameters provide a calibration basis for vector control of the permanent magnet motor.
Embodiments of the present invention are implemented as follows:
a method for simultaneously identifying parameter saturation values of a permanent magnet motor, comprising:
dragging the permanent magnet motor to a determined rotating speed;
setting dq axis current settings, each setting containing a DC setting and an AC setting;
giving and feeding back the current of the dq axis, controlling the actual stator current through a composite current controller, and tracking the given current including the alternating current component;
calculating an equivalent value of the output reactive power of the alternating-current and direct-current axes when the current control is stable;
when the current control is stable, calculating an equivalent value of an alternating current component in the alternating current and the direct current;
calculating an equivalent value of the motor output torque when the current control is stable;
simultaneously calculating saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under the given current of the current dq axis;
and (3) changing dq axis current setting, and repeating calculation to obtain saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under different stator currents.
In a preferred embodiment of the invention:
dragging the permanent magnet motor to a determined rotation speed comprises: the rotating speed interval is 50% -80% of the rated rotating speed.
In any of the above aspects, preferably, dragging the permanent magnet motor to a certain rotation speed includes: the permanent magnet motor is towed to a determined rotational speed by a test bench.
In any of the above embodiments, preferably, the setting dq-axis current settings, each of which includes a dc setting and an ac setting, includes: the direct current is given as a working point for identifying the saturated value of the motor parameter; alternating current is given as an excitation source required for identifying the inductance; the ac is given exactly the same frequency and phase.
In any of the above embodiments, it is preferable that the ac setting is a high-frequency ac setting.
In any of the above aspects, it is preferable that the composite current controller performs composite control using a deviation of a current control system so as to achieve a consistency of current feedback with a given value.
In any of the above aspects, preferably, when the current control is stable, calculating equivalent values of the ac/dc output reactive power, the ac component, and the motor output torque includes: setting variables, calculating and carrying out average value calculation on a plurality of equivalent physical quantities in an integer number of current given alternating current component periods.
In any of the above schemes, preferably, the calculating the saturation values of the quadrature-axis inductance, the direct-axis inductance and the rotor flux linkage at the same time under the current dq-axis current setting includes: and identifying the AC and DC axis inductance value of the motor by using single-phase reactive power, and removing dead zone of a switching device and influence of pipe voltage drop factors.
In any of the above schemes, preferably, the calculating the saturation values of the quadrature-axis inductance, the direct-axis inductance and the rotor flux linkage at the same time under the current dq-axis current setting includes: and using a direct current component in current setting, stabilizing a motor system by using a dynamometer bench, and identifying inductance values of the motor under alternating-direct axis saturation and cross saturation.
A second aspect of the present invention relates to a method for identifying parameter saturation values of a permanent magnet motor simultaneously, comprising:
dragging the permanent magnet motor to a determined rotating speed;
judging whether the inductance test is finished at different working points;
if so, outputting an inductance matrix;
if not, then:
setting dq axis current settings, each setting containing a DC setting and an AC setting;
giving and feeding back the current of the dq axis, controlling the actual stator current through a composite current controller, and tracking the given current including the alternating current component;
calculating an equivalent value of the output reactive power of the alternating-current and direct-current axes when the current control is stable;
when the current control is stable, calculating an equivalent value of an alternating current component in the alternating current and the direct current;
calculating an equivalent value of the motor output torque when the current control is stable;
simultaneously calculating saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under the given current of the current dq axis;
and (3) changing dq axis current setting, and repeating calculation to obtain saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under different stator currents.
When the method for simultaneously identifying the parameter saturation values of the permanent magnet motor is used, the permanent magnet motor is towed to a certain rotating speed by using the prime motor of the test bench, the specific dq axis current of the permanent magnet motor is given at the moment, and the stator current is controlled to track the given current by using the composite current controller. The reactive power equivalent value and the output current equivalent value of the alternating-direct axes defined by the invention are calculated, and then the inductance value under the specific load current can be identified at the same time. Meanwhile, by calculating the output torque, the permanent magnet flux linkage of the rotor under specific load current can be identified. The saturation values of the permanent magnet motor parameters at all working points can be finally identified by changing different stator currents.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described. It is appreciated that the following drawings depict only certain embodiments of the invention and are not therefore to be considered limiting of its scope. Other relevant drawings may be made by those of ordinary skill in the art without undue burden from these drawings.
Fig. 1 is a schematic diagram of a permanent magnet motor dq axis current setting.
Fig. 2 is a flow chart for identifying the parameter saturation value of the permanent magnet motor.
Fig. 3 is a control block diagram of the composite current controller.
Fig. 4 is a flowchart for judging and identifying the saturation value of the permanent magnet motor parameter.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 2, a flowchart of a method for identifying parameter saturation values of a permanent magnet motor simultaneously according to an embodiment of the present application is shown, and as shown in fig. 2, the method includes:
dragging the permanent magnet motor to a determined rotating speed;
setting dq axis current settings, each setting containing a DC setting and an AC setting;
giving and feeding back the current of the dq axis, controlling the actual stator current through a composite current controller, and tracking the given current including the alternating current component;
calculating an equivalent value of the output reactive power of the alternating-current and direct-current axes when the current control is stable;
when the current control is stable, calculating an equivalent value of an alternating current component in the alternating current and the direct current;
calculating an equivalent value of the motor output torque when the current control is stable;
simultaneously calculating saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under the given current of the current dq axis;
and (3) changing dq axis current setting, and repeating calculation to obtain saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under different stator currents.
The permanent magnet motor is dragged to a determined rotating speed by using the test bench, the rotating speed is a precondition for identification, and the rotating speed cannot be too low so as not to influence the calculation accuracy of the reactive power equivalent value and the output torque equivalent value and cannot be too high so as not to cause the saturation of the output voltage due to inductance voltage drop. The rotation speed is optimally within the range of 50-80% of the rated rotation speed. The speed is not limited to n Ref At this time, the synchronous electric frequency of the motor is f s . In the present embodiment, n is recommended Ref ＝40％n N Wherein n is N The voltage output is saturated, so that the calculation accuracy in the identification process is ensured, and the problem of voltage output saturation is avoided.
Referring to fig. 1 for the intent of permanent magnet motor dq axis current setting, both dq axes are given in this form, each containing a dc setting and a high frequency ac setting. The direct current component is used as a working point for identifying the saturated value of the motor parameter, and the alternating current component is used as an excitation source required for identifying the inductor. The frequency and phase of the dq ac component are required to be exactly the same. In the present embodiment, it is assumed that the maximum operating phase current peak value of the permanent magnet motor is I Peak The d-axis current gives a DC component from-I Peak Starting to 0, sequentially taking 10 test points, and setting a given direct current component of q-axis current from I Peak Start to-I Peak And sequentially taking 20 test points. The amplitude of the alternating component given by the two-axis current is 5%I Peak 。
Referring to fig. 2, a flow chart for identifying saturation values of parameters of a permanent magnet motor is shown, wherein a set of parameters of the permanent magnet motor in the operating current state can be identified by different dq-axis current given combinations. The reason that the d-axis current is given only at the negative half axis is that the permanent magnet motor cannot work in a magnetism increasing (paramagnetic) state. The q-axis current is given to be a value in the positive and negative maximum currents because the permanent magnet motor can operate in either an electric state or a power generation state.
Since the control system is not given as a simple direct current, the invention designs a composite current controller. The composite current controller performs composite control by utilizing the deviation of the current control system, and finally achieves the consistency of current feedback and given.
Based on this, the control block diagram of the composite current controller provided by the application is shown in fig. 3. Let d-axis current be I dRef Wherein the DC component is I dRefDc Setting the q-axis current to be I qRef The direct current component is I qRefDc . The two ac components being set to high-frequency signals of the same amplitude and the same frequency, i.e. i RefAc ＝I Ac sin2πf h t. The final set is then:
in general, to accurately calculate the equivalent value of a subsequent variable, f will typically be h Set to be at the sampling beat frequency f c The value of the integer division is not limited
So that every N beats of samples the high frequency ac component passes through a complete cycle. Meanwhile, in order to reduce the signal-to-noise ratio in the identification, the inductance voltage drop must be larger, the inductance impedance is higher, and the frequency f is usually set h Is set to a higher value, at least at more than twice the synchronous frequency of motor operation.
In order to accurately identify motor parameters, the invention designs variables that are conducive to accurate identification: and the equivalent value of the output reactive power of the AC and DC axes and the equivalent value of the AC component in the AC and DC axes current. Calculation of these variables requires averaging of several equivalent physical quantities over an integer number of cycles of a given ac component of the current. And finally, identifying saturation values of the quadrature axis inductance, the direct axis inductance and the rotor flux linkage under a certain working current state by utilizing the variables.
Based on this, the present invention contemplates the following variable definitions:
d-axis current alternating current component equivalent value I dAcAvg Defined as averaging the square of the ac component of the d-axis current over M high frequency ac component periods, since the composite current controller of the above embodiment is used, the current feedback is equal to the current set, and thus a current set calculation is employed, namely
Equivalent value I of q-axis current alternating current component qAcAvg Defined as averaging the square of the ac component of the q-axis current over M high frequency ac component periods. Since the dq-axis current high-frequency alternating current components are given the same, there is I qAcAvg ＝I dAcAvg 。
The d-axis output reactive power equivalent value is defined as the average value of reactive power generated by the ac component of the d-axis current in M high frequency ac component periods. Since the solution is performed in an integer number of cycles, the d-axis voltage output is directly used without calculating the voltage component of the alternating current component generating the d-axis current, i.e. there is
The q-axis output reactive power equivalent value is defined as the average of reactive power generated for the ac component of the q-axis current over M high frequency ac component periods. Also directly using q-axis voltage output, i.e. with
As the saturated values of the parameters of the permanent magnet motor are required to be identified in all working current states, the dq-axis current setting is changed, calculation is repeated, the saturated values of the quadrature axis inductance, the direct axis inductance and the rotor flux linkage under different stator currents can be obtained, and finally, a saturated value table of the parameters of the permanent magnet motor is obtained.
And identifying the AC and DC axis inductance value of the motor by using single-phase reactive power, and removing dead zone of a switching device and influence of pipe voltage drop factors. Because factors such as dead zone of a switching device and voltage drop of a tube are reflected in power as active power, and the reactive power is used for identifying an inductance value, the influence of nonlinear factors can be eliminated. And calculating saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under the current dq axis current.
And using a direct current component in current setting, stabilizing a motor system by using a dynamometer bench, and identifying inductance values of the motor under alternating-direct axis saturation and cross saturation. The tested inductance is the saturation inductance of the given DC current.
And identifying saturation values of the direct-axis inductance and the quadrature-axis inductance corresponding to respective currents, namely identifying the direct-axis inductance saturation value under a certain direct-axis current and the quadrature-axis inductance saturation value under a certain quadrature-axis current. Meanwhile, the cross saturation value of the alternating-direct-axis inductance can be identified, namely the direct-axis inductance saturation value under a certain alternating-axis current and the alternating-axis inductance saturation value under a certain direct-axis current.
Referring to fig. 4, a flowchart for identifying parameter saturation values of permanent magnet motors simultaneously is shown, as shown in fig. 4, and the method includes:
dragging the permanent magnet motor to a determined rotating speed;
judging whether the inductance test is finished at different working points;
if so, outputting an inductance matrix;
if not, then:
setting dq axis current settings, each setting containing a DC setting and an AC setting;
giving and feeding back the current of the dq axis, controlling the actual stator current through a composite current controller, and tracking the given current including the alternating current component;
calculating an equivalent value of the output reactive power of the alternating-current and direct-current axes when the current control is stable;
when the current control is stable, calculating an equivalent value of an alternating current component in the alternating current and the direct current;
calculating an equivalent value of the motor output torque when the current control is stable;
simultaneously calculating saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under the given current of the current dq axis;
and (3) changing dq axis current setting, and repeating calculation to obtain saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under different stator currents.
Based on the method, the repeated calculation is avoided through judging the historical data, and the efficiency is improved.
In summary, the method for simultaneously identifying the parameter saturation value of the permanent magnet motor has the beneficial effects that:
when the method for identifying the parameter saturation value of the permanent magnet motor simultaneously is used, the permanent magnet motor is dragged to a certain rotating speed by utilizing the prime motor of the test bench, the specific dq axis current of the permanent magnet motor is given at the moment, and the stator current is controlled to track the given current by utilizing the composite current controller. The reactive power equivalent value and the output current equivalent value of the alternating-direct axes defined by the invention are calculated, and then the inductance value under the specific load current can be identified at the same time. Meanwhile, by calculating the output torque, the permanent magnet flux linkage of the rotor under specific load current can be identified. The saturation values of the permanent magnet motor parameters at all working points can be finally identified by changing different stator currents.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
It should also be noted that, in this document, the term "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising" does not exclude the presence of additional identical elements in a process, method, article, or apparatus that comprises the element.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A method for simultaneously identifying parameter saturation values of a permanent magnet motor, the method comprising:
dragging the permanent magnet motor to a determined rotating speed;
setting dq axis current settings, each setting containing a DC setting and an AC setting;
giving and feeding back the current of the dq axis, controlling the actual stator current through a composite current controller, and tracking the given current including the alternating current component; the given current is:
i RefAc ＝I Ac sin2πf h t
wherein I is dRef Giving the current of the d axis; i dRefDc A direct current component in the d-axis current; i.e RefAc An alternating component in the current set; i qRef Giving the current of the q axis; i qRefDc A direct current component in the q-axis current setting; f (f) h In order to be a frequency of the light,
f c the sampling beat frequency is the sampling beat frequency, and N is a positive integer; i Ac Is the alternating component of the current; t is the time of one cycle;
calculating an equivalent value of the output reactive power of the alternating-current and direct-current axes when the current control is stable; the d-axis output reactive power equivalent value is defined as reactive power ball average value generated by alternating current component of d-axis current in M high-frequency alternating current component periods, and d-axis voltage output is used; the q-axis output reactive power equivalent value is defined as the reactive power ball average value generated by the alternating current component of the q-axis current in M high-frequency alternating current component periods, and q-axis voltage output is used;
when the current control is stable, calculating an equivalent value of an alternating current component in the alternating current and the direct current; wherein, the equivalent value of the alternating component of the d-axis current is defined as the square sphere mean value of the alternating component of the d-axis current in M high-frequency alternating component periods; the q-axis current alternating current component equivalent value is defined as a square sphere mean value of alternating current components of the q-axis current in M high-frequency alternating current component periods, and the q-axis current alternating current component equivalent value is the same as the d-axis current alternating current component equivalent value;
calculating an equivalent value of the motor output torque when the current control is stable;
simultaneously calculating saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under the given current of the current dq axis;
the dq axis current is changed to be given, calculation is repeated, and saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under different stator currents can be obtained;
simultaneously calculating saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under the current dq axis current setting, comprising:
and using a direct current component in current setting, stabilizing a motor system by using a dynamometer bench, and identifying inductance values of the motor under alternating-direct axis saturation and cross saturation.
2. The method of claim 1, wherein dragging the permanent magnet motor to a determined rotational speed comprises:
the rotating speed interval is 50% -80% of the rated rotating speed.
3. The method of claim 1, wherein dragging the permanent magnet motor to a determined rotational speed comprises:
a test bench with prime mover and motor to be tested is used, which is operated in speed control mode by control unit, and the prime mover is used to pull the permanent-magnet motor to a certain speed.
4. The method of claim 1, wherein setting dq-axis current settings, each setting comprising a dc setting and an ac setting, comprises:
the direct current is given as a working point for identifying the saturated value of the motor parameter;
alternating current is given as an excitation source required for identifying the inductance;
the ac is given exactly the same frequency and phase.
5. A method according to claim 3, characterized in that the ac-given is a high frequency ac-given.
6. The method of claim 1, wherein the composite current controller utilizes a bias of a current control system to perform composite control to achieve a consistent current feedback with a given.
7. The method of claim 1, wherein calculating the ac and dc output reactive power, the ac component, and the motor output torque equivalent when the current control is stable comprises: setting variables, calculating and carrying out average value calculation on a plurality of equivalent physical quantities in an integer number of current given alternating current component periods.
8. The method of claim 1, wherein simultaneously calculating saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage for the present dq axis current setting comprises:
and identifying the AC and DC axis inductance value of the motor by using single-phase reactive power.
9. A method for simultaneously identifying parameter saturation values of a permanent magnet motor, the method comprising:
dragging the permanent magnet motor to a determined rotating speed;
judging whether the inductance test is finished at different working points;
if so, outputting an inductance matrix;
if not, then:
setting dq axis current settings, each setting containing a DC setting and an AC setting;
giving and feeding back the current of the dq axis, controlling the actual stator current through a composite current controller, and tracking the given current including the alternating current component; the given current is:
i RefAc ＝I Ac sin2πf h t
wherein I is dRef Giving the current of the d axis; i dRefDc A direct current component in the d-axis current; i.e RefAc An alternating component in the current set; i qRef Giving the current of the q axis; i QRefDc A direct current component in the q-axis current setting; f (f) h In order to be a frequency of the light,
f c the sampling beat frequency is the sampling beat frequency, and N is a positive integer; i AC Is the alternating component of the current; t is the time of one cycle;
calculating an equivalent value of the output reactive power of the alternating-current and direct-current axes when the current control is stable; the d-axis output reactive power equivalent value is defined as reactive power ball average value generated by alternating current component of d-axis current in M high-frequency alternating current component periods, and d-axis voltage output is used; the q-axis output reactive power equivalent value is defined as the reactive power ball average value generated by the alternating current component of the q-axis current in M high-frequency alternating current component periods, and q-axis voltage output is used;
when the current control is stable, calculating an equivalent value of an alternating current component in the alternating current and the direct current; wherein, the equivalent value of the alternating component of the d-axis current is defined as the square sphere mean value of the alternating component of the d-axis current in M high-frequency alternating component periods; the q-axis current alternating current component equivalent value is defined as a square sphere mean value of alternating current components of the q-axis current in M high-frequency alternating current component periods, and the q-axis current alternating current component equivalent value is the same as the d-axis current alternating current component equivalent value;
calculating an equivalent value of the motor output torque when the current control is stable;
simultaneously calculating saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under the given current of the current dq axis;
the dq axis current is changed to be given, calculation is repeated, and saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under different stator currents can be obtained;
simultaneously calculating saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under the current dq axis current setting, comprising:
and using a direct current component in current setting, stabilizing a motor system by using a dynamometer bench, and identifying inductance values of the motor under alternating-direct axis saturation and cross saturation.
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