CN112234888A - Current identification method for motor, motor controller and vehicle - Google Patents

Current identification method for motor, motor controller and vehicle Download PDF

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Publication number
CN112234888A
CN112234888A CN202011052694.5A CN202011052694A CN112234888A CN 112234888 A CN112234888 A CN 112234888A CN 202011052694 A CN202011052694 A CN 202011052694A CN 112234888 A CN112234888 A CN 112234888A
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current
value
stator
stator current
sampling
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CN112234888B (en
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高乐
孙楠楠
陈文淼
赵强
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Weichai Power Co Ltd
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Weichai Power Co Ltd
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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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • 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
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a current identification method for a motor, a motor controller and a vehicle, wherein the current identification method comprises the following steps: obtaining a stator voltage value, a stator current sampling value at the current moment, a stator current estimation value and a flux linkage angular speed sampling value; calculating a stator current pre-estimated value at the next moment according to the stator voltage value, the stator current estimated value at the current moment and the flux linkage angular velocity sampling value; calculating a feedback adjusting value at the current moment according to the stator current sampling value and the stator current estimated value at the current moment; and calculating the stator current estimated value at the next moment according to the stator current pre-estimated value and the feedback adjusting value. The current identification method provided by the invention is used for identifying the stator current estimated value, can avoid time delay existing in the process of directly sampling the current, and simultaneously filters interference noise introduced by a current sampling circuit, can improve the dynamic regulation speed and improve the system stability.

Description

Current identification method for motor, motor controller and vehicle
Technical Field
The embodiment of the invention relates to a synchronous motor technology, in particular to a current identification method for a motor, a motor controller and a vehicle.
Background
In permanent magnet motor drive systems, the control algorithm is typically discretized and digitally controlled in a microprocessor (e.g., a DSP). The current control loop is the innermost control loop and the most core control loop in the motor driving system, and how to effectively realize the digital control of the current control loop directly influences the control performance of the motor driving system. In performing the current sampling, a digital execution delay is inevitable due to the serial execution of the software code. Typically, the controller of the motor drive system is configured with a PWM-based control method, and accordingly, the digital execution delay is typically one sampling period. For a current regulator in a motor system, because a controller has a delay of one sampling period in the current sampling process, when the current sampling value is taken as an input to be calculated, certain errors exist in the amplitude and the phase of an output voltage. And current sampling frequency fsampComparing, when the rotating speed frequency f of the permanent magnet motoreSufficiently low, these errors can be ignored when the rotational speed frequency feGreater than fsampAt/20, the output voltage error of the current regulator may cause the current loop to fail to operate stably, or even cause an overcurrent fault, for example, if the rotational speed frequency feIs equal to fsampAnd 20, the phase error of the output voltage of the current regulator can reach 18 degrees, and the performance of the current regulator is obviously degraded.
In the prior art, phase compensation of 1 or 1.5 current sampling periods can be directly performed on the output voltage of the current regulator to make up for delay of one current sampling period caused in the current sampling process, but new phase delay and amplitude attenuation are introduced in the process, so that the method is difficult to apply to scenes with high requirements on steady-state performance and dynamic performance of a motor driving system.
Disclosure of Invention
The invention provides a current identification method for a motor, a motor controller and a vehicle, and aims to accurately identify the current of the motor.
In a first aspect, an embodiment of the present invention provides a current identification method for a motor, including:
obtaining a stator voltage value, a stator current sampling value at the current moment, a stator current estimation value and a flux linkage angular speed sampling value;
calculating a stator current pre-estimated value at the next moment according to the stator voltage value, the stator current estimated value at the current moment and the flux linkage angular velocity sampling value;
calculating a feedback adjusting value at the current moment according to the stator current sampling value and the stator current estimated value at the current moment;
and calculating the stator current estimated value at the next moment according to the stator current pre-estimated value and the feedback adjusting value.
Further, calculating the feedback adjustment value at the current moment according to the stator current sampling value and the stator current estimation value at the current moment includes:
calculating the difference value between the stator current sampling value and the stator current estimation value at the current moment, determining the feedback adjustment value at the current moment through a feedback adjustment matrix and the difference value,
the stator current estimated value at the next moment, the stator current pre-estimated value and the difference value form a current identification equation,
and the matrix parameters of the feedback adjusting matrix are determined by the root of the characteristic equation corresponding to the current identification equation, the flux linkage angular speed and the sampling period.
Further, the current identification equation further comprises a current observation matrix, a voltage observation matrix and an angular velocity observation matrix,
in the current identification equation, the current observation matrix is an equation parameter corresponding to the stator current estimated value, the voltage observation matrix is an equation parameter corresponding to the stator voltage value, the angular velocity observation matrix is an equation parameter corresponding to the flux linkage angular velocity sampling value,
the matrix parameters of the current observation matrix are determined by the flux linkage angular speed and the sampling period;
the matrix parameters of the voltage observation matrix are determined by the sampling period and the stator quadrature-direct axis reactance;
the matrix parameters of the angular velocity observation matrix are determined by the rotor flux linkage, the sampling period and the stator quadrature-direct axis reactance.
Further, in the identification equation, the stator current sampling value, the stator voltage value and the stator current estimation value are represented in a space vector form in a two-phase rotating coordinate system,
the flux linkage angular velocity is the angular velocity of the relative rotation of the two rotating coordinate systems and the two stationary coordinate systems.
Further, the current observation matrix is of the form:
Figure BDA0002710042680000031
further, the voltage observation matrix is in the form of:
Figure BDA0002710042680000032
further, the angular velocity observation matrix is of the form:
Figure BDA0002710042680000041
further, the feedback adjustment matrix is of the form:
Figure BDA0002710042680000042
in a second aspect, an embodiment of the present invention further provides a motor controller, configured to execute any current identification method for a motor described in the embodiment of the present invention.
In a third aspect, an embodiment of the present invention further provides a vehicle including the motor controller according to the embodiment of the present invention.
Compared with the prior art, the invention has the beneficial effects that: the invention provides a current identification method, wherein a stator current estimated value at the next moment is calculated according to a stator voltage value, a stator current sampling value at the current moment, a stator current estimated value and a flux linkage angular velocity. The stator current estimation value at the next moment is carried out through the stator voltage value, the stator current estimation value at the current moment and the flux linkage angular speed, the types of parameter variables involved in the identification process of the stator current estimation value are few, the dynamic response rate of the identification process can be improved, the identification precision of the stator current can be improved by introducing a feedback regulation value formed by the stator current sampling value at the current moment and the stator current estimation value in the identification process, meanwhile, the interference noise introduced by a current sampling circuit is filtered, and the steady-state performance of a motor system is improved.
Drawings
FIG. 1 is a flow chart of a current identification method in an embodiment;
FIG. 2 is a schematic diagram of a motor controller according to an embodiment;
FIG. 3 is a schematic structural diagram of a motor driving system in an embodiment;
fig. 4 is a schematic structural diagram of another motor drive system in the embodiment.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flow chart of a current identification method in an embodiment, where the current identification method provided in this embodiment is applicable to a case of motor control, the method may be implemented in a software manner, and the method may be configured in a motor controller, and with reference to fig. 1, the current identification method includes:
s1, obtaining a stator voltage value, a stator current sampling value at the current moment, a stator current estimation value and a flux linkage angular speed sampling value.
In this embodiment, the stator voltage value is a given value, the stator current sampling value is a stator current sampling value, and the flux linkage angular velocity sampling value is an angular velocity sampling value collected by the position sensor. The stator current estimate is a calculated value.
And S2, calculating a stator current pre-estimated value at the next moment according to the stator voltage value, the stator current estimated value at the current moment and the flux linkage angular velocity sampling value.
In this step, for example, based on a voltage equation of the motor, the stator current pre-estimated value has a certain functional relationship with the stator voltage value, the stator current estimated value, and the flux linkage angular velocity sampling value, and the stator current pre-estimated value at the next time can be obtained according to the functional relationship.
And S3, calculating a feedback adjusting value at the current moment according to the stator current sampling value and the stator current estimated value at the current moment.
In this embodiment, an error between the current sampling value and the electronic current estimation value can be obtained by using the stator current sampling value and the stator current estimation value at the current time, and the error is used as a feedback adjustment value for estimating the current estimation value at the next time according to a feedback control principle, so that the accuracy of current identification can be improved.
And S4, calculating the stator current estimated value at the next moment according to the stator current pre-estimated value and the feedback adjusting value.
For example, in this embodiment, a functional relationship between the stator current estimated value, the stator current pre-estimated value, and the feedback adjustment value at the next time may be constructed, and the real-time tracking calculation of the stator current estimated value may be implemented according to the functional relationship.
For example, in order to decouple a plurality of control parameters in the motor control process and facilitate identification of the stator current estimated value, in the embodiment, a function equation for identifying the stator current estimated value is constructed based on a two-phase rotating coordinate system.
Illustratively, taking a direct current motor as an example, the magnetic field of the direct current motor includes an excitation magnetic field and an armature magnetic field, the excitation magnetic field is generated by two upper and lower magnets of the direct current motor, the direction is from N- > S, the armature magnetic field is perpendicular to the excitation magnetic field, generally, the axis of the electromagnetic magnetic field (d) is called a straight axis, the axis of the armature magnetic field (q) perpendicular to the straight axis is called an orthogonal axis, and a coordinate system formed by the straight axis and the orthogonal axis is a two-phase rotating coordinate system (d-q coordinate system).
Specifically, in this embodiment, the process of constructing the function equation includes:
step 1, constructing a stator voltage equation under a d-q coordinate system, wherein the stator voltage equation is as follows:
Figure BDA0002710042680000061
in the formula usIs the stator voltage, s is the differential operator, LdqIs stator quadrature-direct axis reactance, RsIs stator resistance, isIs the stator current, ωeIn order to determine the angular velocity of the flux linkage,
Figure BDA0002710042680000062
is the rotor flux linkage.
Step 2, discretizing a stator voltage equation under the d-q coordinate system by utilizing a forward Euler formula to obtain a stator voltage discrete equation, wherein the stator voltage discrete equation comprises the following steps:
Figure BDA0002710042680000071
in the formula (I), the compound is shown in the specification,
Figure BDA0002710042680000072
the value of the sampled stator current is,
Figure BDA0002710042680000073
as stator current estimate, TsIs the sampling period.
And 3, determining a discrete stator current estimation equation according to the electronic voltage discrete equation, wherein the discrete stator current estimation equation comprises the following steps:
Figure BDA0002710042680000074
and 4, determining a stator current observation equation according to the discrete stator current estimation equation.
Specifically, in this step, the discrete stator current estimation equation is converted into a stator current observation equation, and in the stator current observation equation, the stator current estimation value, the stator current sampling value, and the stator voltage value are expressed in a space vector form in a two-phase rotating coordinate system, that is:
Figure BDA0002710042680000075
Figure BDA0002710042680000076
referring to a discrete stator current estimation equation, the stator current observation equation is:
Figure BDA0002710042680000077
and referring to a stator current observation equation, wherein the stator current observation equation comprises a current observation matrix A, a voltage observation matrix B and an angular velocity observation matrix G.
Illustratively, v in the stator current observation equation represents the flux linkage angular velocity, which is the angular velocity of the rotation of the two-phase rotating coordinate system relative to the two-phase stationary coordinate system, vMAs sampled values of flux angular velocity, iMFor sampling stator current, iPFor stator current estimation, u is the stator voltage.
And in the stator current observation equation, a current observation matrix is an equation parameter corresponding to the stator current estimation value, and the matrix parameter of the current observation matrix is determined by the flux linkage angular velocity and the sampling period.
For example, in this embodiment, the sampled value of the flux linkage angular velocity may be a flux linkage angular velocity value measured by a sensor, and the flux linkage angular velocity may be a flux linkage angular velocity value estimated by a preset motor model (e.g., a sliding mode observer). For the convenience of calculation, the flux linkage angular velocity sampling value can be the same as the flux linkage angular velocity.
Specifically, the current observation matrix a is:
Figure BDA0002710042680000081
in the formula, LdIs a direct-axis reactance, LqFor quadrature reactance, usually TsRs/Ld、TsRs/LqAbout 0, the current observation matrix a may be deformed as:
Figure BDA0002710042680000082
referring to a discrete stator current estimation equation, in the stator current observation equation, a voltage observation matrix B is an equation parameter corresponding to a stator voltage value, the matrix parameter of the voltage observation matrix is determined by a sampling period and stator quadrature-direct axis reactance, and specifically, the voltage observation matrix B is as follows:
Figure BDA0002710042680000083
referring to a discrete stator current estimation equation, in the stator current observation equation, an angular velocity observation matrix G is an equation parameter corresponding to a flux linkage angular velocity sampling value, and a matrix parameter of the angular velocity observation matrix is determined by a rotor flux linkage, a sampling period, and a stator quadrature-direct axis reactance, specifically, the angular velocity observation matrix G is:
Figure BDA0002710042680000084
in the formula (I), the compound is shown in the specification,
Figure BDA0002710042680000085
is the rotor flux linkage.
And 5, introducing a feedback regulation link into the stator current observation equation to form a current identification equation.
In this embodiment, the stator current estimation value and the stator current sampling value have a certain functional relationship, and if the stator current sampling value changes, the stator current estimation value will change, according to the feedback control principle, in this step, the stator current sampling value and the stator current estimation value at the current moment are used as the feedback adjustment value for estimating the current estimation value at the next moment, and the current identification equation is:
Figure BDA0002710042680000091
in this step, the stator current sampling value at the present time is calculated
Figure BDA0002710042680000092
Stator current estimation
Figure BDA0002710042680000093
And determining the feedback adjustment value at the current moment according to the feedback adjustment matrix L and the difference.
Passing in current identification equation
Figure BDA0002710042680000094
A stator current pre-estimate can be determined by
Figure BDA0002710042680000095
A feedback adjustment value may be determined, and from the current pre-estimate and the feedback adjustment value, an estimate of the stator current at the next time may be determined.
In this step, the matrix parameters of the feedback adjustment matrix L are determined by the root of the characteristic equation corresponding to the current identification equation, the flux linkage angular velocity, and the sampling period.
Specifically, the form of the feedback adjustment matrix L is:
Figure BDA0002710042680000096
combining the feedback regulation matrix, the characteristic equation of the current identification equation is as follows:
s2+(l1+l2-2)s+1-(l1+l2)+l1l2+(ωeTs)2＝0
and according to the characteristic equation, setting the root of the characteristic equation as a negative root beta, wherein the root of the characteristic equation satisfies the following conditions according to a root-solving formula:
Figure BDA0002710042680000097
according to the above formula, /)1And l2The expression of (a) is:
Figure BDA0002710042680000101
exemplarily, in this step, a value of β may be determined by simulation debugging according to a los criterion, and accordingly, the feedback adjustment matrix is:
Figure BDA0002710042680000102
in the embodiment, the stator current estimation value can be identified through the current identification equation, and in the motor control process, the stator current estimation value is used for replacing a stator current sampling value directly collected in the traditional motor driving process, so that the problem that the voltage amplitude value and the phase position calculated based on the current sampling value have errors with an expected value due to the fact that the current sampling has time delay, and further the dynamic performance of the motor is influenced is solved.
In this embodiment, a current identification method is provided, wherein a stator current estimated value at a next time is calculated according to a stator voltage value, a stator current sampling value at a current time, a stator current estimated value, and a flux linkage angular velocity. The stator current estimation value at the next moment is carried out through the stator voltage value, the stator current estimation value at the current moment and the flux linkage angular speed, the types of parameter variables involved in the identification process of the stator current estimation value are few, the dynamic response rate of the identification process can be improved, the identification precision of the stator current can be improved by introducing a feedback regulation value formed by the stator current sampling value at the current moment and the stator current estimation value in the identification process, meanwhile, the interference noise introduced by a current sampling circuit is filtered, and the steady-state performance of a motor system is improved.
Example two
Fig. 2 is a schematic structural diagram of a motor controller in an embodiment, and referring to fig. 2, the motor controller includes a data acquisition module 100, a stator current pre-estimation module 200, a feedback adjustment module 300, and a stator current estimation module 400.
The data acquisition module 100 is configured to obtain a stator voltage value, a stator current sampling value at a current time, a stator current estimation value, and a flux linkage angular velocity sampling value.
The stator current pre-estimation module 200 is configured to calculate a stator current pre-estimation value at a next time according to the stator voltage value, the stator current estimation value at the current time, and the flux linkage angular velocity sampling value.
The feedback adjusting module 300 is configured to calculate a feedback adjusting value at the current time according to the stator current sampling value and the stator current estimated value at the current time.
The stator current estimation module 400 is configured to calculate a stator current estimation value at a next time according to the stator current pre-estimation value and the feedback adjustment value.
For example, in this embodiment, the stator current pre-estimation module, the feedback adjustment module, and the stator current estimation module may be configured with the current identification equation described in the first embodiment, and the stator current pre-estimation module, the feedback adjustment module, and the stator current estimation module may calculate the required stator current pre-estimation value, feedback adjustment value, and stator current estimation value through the current identification equation.
In this embodiment, the construction process of the current identification equation is the same as the content recorded in the first embodiment, and the beneficial effects are the same, and detailed description is omitted.
EXAMPLE III
On the basis of the first embodiment and the second embodiment, the present embodiment provides a vehicle, and the vehicle is provided with the motor controller in the second embodiment. The vehicle may be equipped with a permanent magnet synchronous motor or a speed sensorless permanent magnet synchronous motor, and the motor controller may be equipped in a permanent magnet synchronous motor system or a speed sensorless permanent magnet synchronous motor system.
Fig. 3 is a schematic diagram of a motor drive system configuration in an embodiment, and referring to fig. 3, the vehicle includes a motor controller 1, a PI current regulator 2, a first inverter 3, a drive controller 4, a drive circuit 5, a second inverter 6, a third inverter 7, and a motor 8.
The motor controller 1 is connected to a PI current regulator 2, the PI current regulator 2 is connected to a drive controller 4 via a first converter 3, and the drive controller 4 is connected to a motor 8 via a drive circuit 5. The second converter 6 is used to detect the phase current of the electric machine 8, the second converter 6 is connected to the third converter 7, and the third converter 7 is connected to the machine controller 1.
For example, in the motor driving system shown in fig. 3, the motor 8 is a permanent magnet synchronous motor without a speed sensor, and the working process of the motor driving system includes:
step 1, a second converter collects phase current i of a motora、ibAnd phase current i is transformed by Clarkea、ibConverting into two-phase stationary coordinate system to form phase current iα、iβ。
Step 2, the third converter converts the phase current i through parkα、iβConverting into two-phase rotating coordinate system to form phase current id、iq。
Step 3, the motor controller receives the phase current i in the step 2dI, performing current identification by using the current identification method in the first embodiment to obtain the stator current estimation value
Figure BDA0002710042680000121
Illustratively, the phase current received by the motor controller in step 3 is the stator current sample value
Figure BDA0002710042680000122
The motor controller stores the estimated value of the current stator current at the current moment
Figure BDA0002710042680000123
By sampling values of stator current
Figure BDA0002710042680000124
Stator current estimation value at current moment
Figure BDA0002710042680000125
The angular velocity of flux linkage and the voltage value of the stator can be calculated based on the current identification equation to obtain the estimated value of the stator current at the next moment
Figure BDA0002710042680000126
Illustratively, in this step, the stator voltage value is a given value, and the rotor flux linkage required for calculating the stator current estimated value at the next moment is calculated
Figure BDA0002710042680000127
The estimation of the rotor flux linkage can be achieved by means of position estimation, for example, by establishing an ideal model of the motor by means of an observer method (a slip film observer, a full state observer, etc.), and reconstructing the back electromotive force and the rotation speed position of the motor. Root of herbaceous plantCollecting phase current i of the motor according to the second convertera、ibThe motor controller can calculate the required flux linkage angular velocity ω according to a position and velocity estimation method (sliding mode observer method, etc.)e。
Step 4, the PI current regulator receives the estimated value of the stator current output by the motor controller in the step 3
Figure BDA0002710042680000128
Figure BDA0002710042680000129
And outputs a phase voltage V to the phased、Vq。
Step 5, the first converter converts the phase voltage V by inverse park conversiond、VqConverting into two-phase static coordinate system to form phase voltage Vα、Vβ。
Illustratively, the motor controller estimates the flux linkage angular velocity and then calculates the flux linkage angular velocity ω based on the estimated flux linkage angular velocityeThe angle theta of the two-phase rotating coordinate system rotating relative to the two-phase static coordinate system can be further obtained, the first converter can receive the angle theta sent by the motor controller, and the phase voltage V can be obtained based on the value of the thetad、VqConverting into two-phase static coordinate system to form phase voltage Vα、Vβ。
Step 6, the driving controller converts the phase voltage V through inverse Clarke transformationα、VβConverting the phase voltage V into a two-phase static coordinate system to form a phase voltage Va、Vb、VcAnd generating a drive control command according to the drive control method, and controlling the motor to rotate through the drive control command.
In this step, the driving control method may be a control method based on a Support Vector Machine (SVM), a control method based on a Pulse Width Modulation (PWM), a control method based on a Space Vector Modulation (SVPWM), or the like.
Fig. 4 is a schematic diagram of another motor drive system configuration in the embodiment, and referring to fig. 4, the vehicle includes a motor controller 1, a PI current regulator 2, a first inverter 3, a drive controller 4, a drive circuit 5, a second inverter 6, a third inverter 7, a motor 8, and a position sensor 9.
The motor controller 1 is connected with the PI current regulator 2, the PI current regulator 2 is connected with the driving controller 4 through the first converter 3, the driving controller 4 is connected with the motor 8 through the driving circuit 5, and the motor 8 is also connected with the motor controller 1 through the position sensor 9. The second converter 6 is used to detect the phase current of the electric machine 8, the second converter 6 is connected to the third converter 7, and the third converter 7 is connected to the machine controller 1.
Illustratively, in the motor driving system shown in fig. 4, the motor 8 is a permanent magnet synchronous motor, and the operation of the motor driving system shown in fig. 4 is similar to that of the motor driving system shown in fig. 3, wherein when the motor driving system shown in fig. 4 is operated, the angular velocity ω of the flux linkage required for calculating the stator current estimated value at the next moment is calculatedeRotor flux linkage
Figure BDA0002710042680000141
Is the measurement value of the position sensor. The angle theta is also a measured value, and the first converter can receive the angle theta sent by the position sensor and can be used for converting the phase voltage V into the phase voltage V based on the value of thetad、VqConverting into two-phase static coordinate system to form phase voltage Vα、Vβ。
The vehicle provided by the embodiment comprises the PI current regulator, wherein the input of the PI current regulator is a stator current estimated value estimated by the motor controller, and the stator current estimated value estimated by the motor controller compensates sampling delay existing in the current sampling process and simultaneously eliminates interference noise in the current sampling process, so that the phase error of the output voltage of the PI current regulator is small, the performance of the PI current regulator can be remarkably improved, the steady-state precision and the dynamic performance of a motor driving system can be further improved, and the performance index of the whole vehicle is improved.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A current identification method for an electric machine, comprising:
obtaining a stator voltage value, a stator current sampling value at the current moment, a stator current estimation value and a flux linkage angular speed sampling value;
calculating a stator current pre-estimated value at the next moment according to the stator voltage value, the stator current estimated value at the current moment and the flux linkage angular velocity sampling value;
calculating a feedback adjusting value at the current moment according to the stator current sampling value and the stator current estimated value at the current moment;
and calculating the stator current estimated value at the next moment according to the stator current pre-estimated value and the feedback adjusting value.
2. The current identifying method for the motor according to claim 1, wherein calculating the feedback adjustment value at the current moment according to the stator current sampling value and the stator current estimation value at the current moment comprises:
calculating the difference value between the stator current sampling value and the stator current estimation value at the current moment, determining the feedback adjustment value at the current moment through a feedback adjustment matrix and the difference value,
the stator current estimated value at the next moment, the stator current pre-estimated value and the difference value form a current identification equation,
and the matrix parameters of the feedback adjusting matrix are determined by the root of the characteristic equation corresponding to the current identification equation, the flux linkage angular speed and the sampling period.
3. The current identification method for an electric machine according to claim 2, wherein the current identification equation further includes a current observation matrix, a voltage observation matrix, and an angular velocity observation matrix,
in the current identification equation, the current observation matrix is an equation parameter corresponding to the stator current estimated value, the voltage observation matrix is an equation parameter corresponding to the stator voltage value, the angular velocity observation matrix is an equation parameter corresponding to the flux linkage angular velocity sampling value,
the matrix parameters of the current observation matrix are determined by the flux linkage angular speed and the sampling period;
the matrix parameters of the voltage observation matrix are determined by the sampling period and the stator quadrature-direct axis reactance;
the matrix parameters of the angular velocity observation matrix are determined by the rotor flux linkage, the sampling period and the stator quadrature-direct axis reactance.
4. The current identifying method for an electric motor according to claim 3, wherein in the current identifying equation, the stator current sample value, the stator voltage value, and the stator current estimate value are expressed in a space vector form in a two-phase rotational coordinate system,
the flux linkage angular velocity is the angular velocity of the relative rotation of the two rotating coordinate systems and the two stationary coordinate systems.
5. The current identification method for an electric machine according to claim 4, wherein the current observation matrix is of the form:
Figure FDA0002710042670000021
6. a current discrimination method for an electric machine as claimed in claim 4, wherein the voltage observation matrix is of the form:
Figure FDA0002710042670000022
7. the current identification method for an electric machine according to claim 4, wherein the angular velocity observation matrix is of the form:
Figure FDA0002710042670000023
8. a current discrimination method for an electric motor according to claim 4, wherein the feedback adjustment matrix is of the form:
Figure FDA0002710042670000031
9. a motor controller for performing the current discriminating method for a motor of any one of claims 1 to 8.
10. A vehicle characterized by comprising the motor controller of claim 9.
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