CN113037165B - Method and device for correcting flux linkage coefficient of permanent magnet synchronous motor - Google Patents
Method and device for correcting flux linkage coefficient of permanent magnet synchronous motor Download PDFInfo
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- CN113037165B CN113037165B CN202110269086.8A CN202110269086A CN113037165B CN 113037165 B CN113037165 B CN 113037165B CN 202110269086 A CN202110269086 A CN 202110269086A CN 113037165 B CN113037165 B CN 113037165B
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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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
Abstract
The embodiment of the invention discloses a method and a device for correcting a flux linkage coefficient of a permanent magnet synchronous motor, wherein the method for correcting the flux linkage coefficient of the permanent magnet synchronous motor comprises the following steps: obtaining motor parameters of the permanent magnet synchronous motor; determining an initial flux linkage coefficient of the permanent magnet synchronous motor according to the relation between the motor parameter and the flux linkage based on a mathematical model of the permanent magnet synchronous motor; taking the initial flux linkage coefficient as an initial value, substituting the initial value into a flux linkage expression of the permanent magnet synchronous motor to perform iterative calculation, and determining the flux linkage coefficient of the permanent magnet synchronous motor; and performing weighting operation on the flux linkage coefficients, fitting the weighting results, and determining the optimal flux linkage coefficient of the permanent magnet synchronous motor according to the fitting results. The method and the device for correcting the flux linkage coefficient of the permanent magnet synchronous motor disclosed by the embodiment of the invention can improve the accuracy of correcting the flux linkage coefficient and improve the accuracy of controlling the motor.
Description
Technical Field
The embodiment of the invention relates to a motor control technology, in particular to a method and a device for correcting a flux linkage coefficient of a permanent magnet synchronous motor.
Background
In the development of new energy vehicles, permanent magnet synchronous motors are widely used in power control systems due to their superior performance. In the early software development stage of the mass production of the permanent magnet synchronous motor, a system reference parameter directly given by a motor manufacturer may have a large error, and particularly, when a large motor with high power and tens of kilowatt power is controlled, the situation that the flux linkage parameters are greatly different exists, so that the same algorithm of the permanent magnet synchronous motor generates a large difference under the motors in the same batch, and the formulation of a control strategy is influenced. Therefore, the flux linkage coefficient of the permanent magnet synchronous motor needs to be corrected.
At present, in an existing method for correcting a flux linkage coefficient of a permanent magnet synchronous motor, when a difference value between an amplitude value of a stator phase voltage of the permanent magnet synchronous motor and an average value of three-phase voltages is larger than a preset threshold value, a flux linkage is corrected through a preset correction coefficient, a flux linkage correction degree is only related to the preset correction coefficient, and the accuracy of flux linkage coefficient correction is influenced and further the accuracy of motor control is influenced because the preset correction coefficient is directly given and cannot be corrected according to the real-time change condition of the flux linkage.
Disclosure of Invention
The embodiment of the invention provides a method and a device for correcting a flux linkage coefficient of a permanent magnet synchronous motor, which are used for improving the correction accuracy of the flux linkage coefficient and the control accuracy of the motor.
In a first aspect, an embodiment of the present invention provides a method for correcting a flux linkage coefficient of a permanent magnet synchronous motor, including:
obtaining motor parameters of the permanent magnet synchronous motor;
determining an initial flux linkage coefficient of the permanent magnet synchronous motor according to the relation between the motor parameter and the flux linkage based on a mathematical model of the permanent magnet synchronous motor;
taking the initial flux linkage coefficient as an initial value, substituting the initial value into a flux linkage expression of the permanent magnet synchronous motor to perform iterative calculation, and determining the flux linkage coefficient of the permanent magnet synchronous motor;
and performing weighting operation on the flux linkage coefficients, fitting the weighting results, and determining the optimal flux linkage coefficient of the permanent magnet synchronous motor according to the fitting results.
Optionally, substituting the initial value into a flux linkage expression of the permanent magnet synchronous motor to perform iterative computation, and determining a flux linkage coefficient of the permanent magnet synchronous motor, including:
substituting the initial value into a flux linkage expression of the permanent magnet synchronous motor, and calculating to obtain a real-time flux linkage numerical value of the permanent magnet synchronous motor;
and carrying out iterative calculation on the real-time flux linkage numerical value to obtain the flux linkage coefficient of the permanent magnet synchronous motor.
Optionally, the flux linkage expression is:
Ψf(t)＝Ψf(t-1)+kK(t)[X(t)-Y T (t)Ψf(t-1)]
the method comprises the following steps that psi f (t) is a real-time flux linkage value at the moment t, psi f (t-1) is a real-time flux linkage value at the moment t-1, K is an adjustable coefficient, K (t) is a state gain matrix at the moment t, X (t) is a first constant matrix, and Y (t) is a second constant matrix.
Optionally, the relationship between the motor parameter and the flux linkage is as follows:
wherein, U q Q-axis voltage, R, of a permanent magnet synchronous machine s Is the stator resistance of a permanent magnet synchronous motor, I q Q-axis current, L, for a permanent magnet synchronous machine q Q-axis inductance, L, for a permanent magnet synchronous machine d Is d-axis inductance of the PMSM, and ω is the electrical angular velocity of the PMSM, Ψ f Is the flux linkage of the permanent magnet synchronous motor.
Optionally, the weighting operation is performed on the flux linkage coefficient, the weighting result is fitted, and the optimal flux linkage coefficient of the permanent magnet synchronous motor is determined according to the fitting result, including:
performing weighted operation on the flux linkage coefficient to obtain a weighted mean psi fjq of the flux linkage;
and fitting the weighted mean value psi fjq, and determining the optimal flux linkage coefficient according to the fitting result.
Optionally, the expression of the weighted mean Ψ fjq of the flux linkage is:
and Ψ f (i) is a flux linkage coefficient obtained by the ith calculation in a preset time period.
Optionally, determining the optimal flux linkage coefficient according to the fitting result includes:
according to the fitting result, determining the voltage and the current of the permanent magnet synchronous motor corresponding to the fitting result through table lookup;
and taking the flux linkage coefficient corresponding to the voltage and the current of the first preferred sequence in the voltage and the current as the optimal flux linkage coefficient of the permanent magnet synchronous motor.
Optionally, the motor parameters include an electrical angular velocity, a q-axis voltage, a q-axis current, a d-axis inductance, a q-axis inductance, and a stator resistance of the permanent magnet synchronous motor.
In a second aspect, an embodiment of the present invention further provides a device for correcting a flux linkage coefficient of a permanent magnet synchronous motor, including:
the parameter acquisition module is used for acquiring motor parameters of the permanent magnet synchronous motor;
the initial flux linkage determining module is used for determining an initial flux linkage coefficient of the permanent magnet synchronous motor according to the relation between the motor parameter and the flux linkage based on a mathematical model of the permanent magnet synchronous motor;
the flux linkage coefficient determining module is used for taking the initial flux linkage coefficient as an initial value, substituting the initial value into a flux linkage expression of the permanent magnet synchronous motor to carry out iterative calculation, and determining the flux linkage coefficient of the permanent magnet synchronous motor;
and the optimal coefficient determination module is used for performing weighting operation on the flux linkage coefficients, fitting the weighting results and determining the optimal flux linkage coefficients of the permanent magnet synchronous motor according to the fitting results.
Optionally, the magnetic linkage coefficient determining module includes:
the real-time flux linkage value determining unit is used for substituting the initial value into a flux linkage expression of the permanent magnet synchronous motor and calculating to obtain a real-time flux linkage value of the permanent magnet synchronous motor;
and the flux linkage coefficient determining unit is used for performing iterative calculation on the real-time flux linkage numerical value to obtain the flux linkage coefficient of the permanent magnet synchronous motor.
According to the method and the device for correcting the flux linkage coefficient of the permanent magnet synchronous motor, motor parameters of the permanent magnet synchronous motor are obtained; determining an initial flux linkage coefficient of the permanent magnet synchronous motor according to the relation between the motor parameter and the flux linkage based on a mathematical model of the permanent magnet synchronous motor; taking the initial flux linkage coefficient as an initial value, substituting the initial value into a flux linkage expression of the permanent magnet synchronous motor to perform iterative calculation, and determining the flux linkage coefficient of the permanent magnet synchronous motor; and performing weighting operation on the flux linkage coefficients, fitting the weighting results, and determining the optimal flux linkage coefficient of the permanent magnet synchronous motor according to the fitting results. Compared with the existing method for correcting the flux linkage through the preset correction coefficient, the method and the device for correcting the flux linkage coefficient of the permanent magnet synchronous motor provided by the embodiment of the invention determine the optimal flux linkage coefficient of the permanent magnet synchronous motor according to the fitting result by performing weighted fitting on the flux linkage coefficient, namely correct the flux linkage according to the real-time change condition of the flux linkage, solve the problem that the correction accuracy is influenced by correcting the flux linkage through the given correction coefficient, improve the correction accuracy of the flux linkage coefficient and further improve the control accuracy of the motor.
Drawings
Fig. 1 is a flowchart of a method for correcting a flux linkage coefficient of a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for correcting a flux linkage coefficient of a permanent magnet synchronous motor according to a second embodiment of the present invention;
fig. 3 is a block diagram of a structure of a correction device for flux linkage coefficients of a permanent magnet synchronous motor according to a third embodiment of the present invention.
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 flowchart of a method for correcting a flux linkage coefficient of a permanent magnet synchronous motor according to an embodiment of the present invention, where the embodiment is applicable to aspects such as correcting the flux linkage coefficient of the permanent magnet synchronous motor, and the method may be implemented by a device for correcting the flux linkage coefficient of the permanent magnet synchronous motor, where the device may be implemented by software and/or hardware, and the device may be integrated in an electronic device such as a computer having a function of correcting the flux linkage coefficient of the permanent magnet synchronous motor, and the method specifically includes the following steps:
and 110, acquiring motor parameters of the permanent magnet synchronous motor.
The motor parameters may include an electrical angular velocity, a q-axis voltage, a q-axis current, a d-axis inductance, a q-axis inductance, a stator resistance, and the like of the permanent magnet synchronous motor. The motor parameters of the permanent magnet synchronous motor can be stored in a memory of the motor control system in advance, the correction device of the flux linkage coefficient of the permanent magnet synchronous motor can acquire the motor parameters stored in the memory through a port electrically connected with the memory, for example, the correction device of the flux linkage coefficient of the permanent magnet synchronous motor can send a parameter calling instruction to the motor control system, when the motor control system allows the received parameter calling instruction to be executed, the memory can transmit data outwards, and therefore the correction device of the flux linkage coefficient of the permanent magnet synchronous motor can acquire the motor parameters stored in the memory.
And step 120, determining an initial flux linkage coefficient of the permanent magnet synchronous motor according to the relation between the motor parameter and the flux linkage based on the mathematical model of the permanent magnet synchronous motor.
Specifically, the mathematical model of the permanent magnet synchronous motor includes a voltage equation and a flux linkage equation in a three-phase stationary coordinate system or a two-phase stationary coordinate system, or a voltage equation, a flux linkage equation, a torque equation, a motion equation and a state equation in a two-phase rotating coordinate system, and the coordinate systems may be transformed with each other, and reference may be made to the introduction of relevant books and relevant data of motor control such as a motor control technology, and details thereof are not repeated herein. Based on a mathematical model of the permanent magnet synchronous motor, according to the relationship between motor parameters and flux linkages, for example, the flux linkages and the motor parameters such as voltage and current of the permanent magnet synchronous motor in a d-q coordinate system, namely a two-phase rotating coordinate system meet a certain relational expression, the motor parameters required for calculating the flux linkages can be substituted into the relational expression to obtain the flux linkages, and the obtained flux linkages are used as initial flux linkage coefficients, so that the initial flux linkage coefficients of the permanent magnet synchronous motor are determined. And the correction device of the flux linkage coefficient of the permanent magnet synchronous motor can acquire the motor parameter once every preset time, such as 10ms, and the acquired motor parameter is the motor parameter updated by the motor control system in the control process of the permanent magnet synchronous motor, so that the determined initial flux linkage coefficient of the permanent magnet synchronous motor is updated.
And step 130, taking the initial flux linkage coefficient as an initial value, substituting the initial value into a flux linkage expression of the permanent magnet synchronous motor to perform iterative calculation, and determining the flux linkage coefficient of the permanent magnet synchronous motor.
Specifically, the initial flux linkage coefficient may be substituted into a flux linkage expression of the permanent magnet synchronous motor as an initial value, for example, the flux linkage expression of the permanent magnet synchronous motor is a relational expression about Ψ f (t) and Ψ f (t-1), Ψ f (t) is a real-time flux linkage value at the time t, Ψ f (t-1) is a real-time flux linkage value at the time t-1, the initial flux linkage coefficient is used as an initial value, that is, the initial flux linkage value Ψ f (0) at the initial time, and the real-time flux linkage value Ψ f (t) at the time t is obtained through iterative computation, so as to determine the flux linkage coefficient of the permanent magnet synchronous motor.
And 140, performing weighted operation on the flux linkage coefficients, fitting the weighted results, and determining the optimal flux linkage coefficient of the permanent magnet synchronous motor according to the fitting results.
Specifically, the flux linkage coefficient obtained by multiple calculations within a preset time period may be subjected to weighting operation to obtain a weighted average of flux linkages, and the weighted average is subjected to linear fitting, so that the obtained fitting result may be a plurality of different flux linkage values. According to the fitting result, the voltage and the current of the permanent magnet synchronous motor corresponding to the fitting result can be determined through table lookup, for example, the table lookup can be used for looking up the voltage and the current corresponding to different flux linkage values in a preset storage table, and the preset storage table can be pre-stored with the voltage and the current corresponding to different flux linkage values and the preferred sequence of the voltage and the current. If the range of the flux linkage values recorded in the preset storage table is wide, the fitting result obtained by fitting the weighted average value is corresponding to a plurality of different flux linkage values which are recorded in the preset storage table. The motor is controlled by the voltage and the current of the first bit of the preferred sequence in the voltage and the current stored in the preset storage table, and the reliability of control is higher compared with the control of the motor by the voltage and the current corresponding to other positions except the first bit of the preferred sequence, so that the flux linkage coefficient corresponding to the voltage and the current of the first bit of the preferred sequence in the voltage and the current stored in the preset storage table can be used as the optimal flux linkage coefficient of the permanent magnet synchronous motor, and the correction of the flux linkage coefficient is realized.
In the method for correcting the flux linkage coefficient of the permanent magnet synchronous motor provided by the embodiment, motor parameters of the permanent magnet synchronous motor are obtained; determining an initial flux linkage coefficient of the permanent magnet synchronous motor according to the relation between the motor parameter and the flux linkage based on a mathematical model of the permanent magnet synchronous motor; taking the initial flux linkage coefficient as an initial value, substituting the initial value into a flux linkage expression of the permanent magnet synchronous motor to perform iterative calculation, and determining the flux linkage coefficient of the permanent magnet synchronous motor; and performing weighting operation on the flux linkage coefficients, fitting the weighting results, and determining the optimal flux linkage coefficient of the permanent magnet synchronous motor according to the fitting results. Compared with the existing method for correcting the flux linkage through the preset correction coefficient, the correction method for the flux linkage coefficient of the permanent magnet synchronous motor provided by the embodiment determines the optimal flux linkage coefficient of the permanent magnet synchronous motor according to the fitting result by performing weighted fitting on the flux linkage coefficient, namely corrects the flux linkage according to the real-time change condition of the flux linkage, and solves the problem that the correction accuracy is influenced by correcting the flux linkage through the given correction coefficient, so that the correction accuracy of the flux linkage coefficient is improved, and the control accuracy of the motor is further improved.
Example two
Fig. 2 is a flowchart of a method for correcting a flux linkage coefficient of a permanent magnet synchronous motor according to a second embodiment of the present invention, where the second embodiment is applicable to aspects such as correcting a flux linkage coefficient of a permanent magnet synchronous motor, and the method may be implemented by a device for correcting a flux linkage coefficient of a permanent magnet synchronous motor, where the device may be implemented by software and/or hardware, and the device may be integrated in an electronic device such as a computer having a function of correcting a flux linkage coefficient of a permanent magnet synchronous motor, and the method specifically includes the following steps:
and step 210, obtaining motor parameters of the permanent magnet synchronous motor.
The motor parameters may include an electrical angular velocity, a q-axis voltage, a q-axis current, a d-axis inductance, a q-axis inductance, a stator resistance, and the like of the permanent magnet synchronous motor. The motor parameters of the permanent magnet synchronous motor can be stored in a memory of the motor control system in advance, the correction device of the flux linkage coefficient of the permanent magnet synchronous motor can acquire the motor parameters stored in the memory through a port electrically connected with the memory, for example, the correction device of the flux linkage coefficient of the permanent magnet synchronous motor can send a parameter calling instruction to the motor control system, and when the motor control system allows the received parameter calling instruction to be executed, the memory can transmit data outwards, so that the correction device of the flux linkage coefficient of the permanent magnet synchronous motor can acquire the motor parameters stored in the memory.
And step 220, determining an initial flux linkage coefficient of the permanent magnet synchronous motor according to the relation between the motor parameter and the flux linkage based on the mathematical model of the permanent magnet synchronous motor.
Specifically, the relationship between the motor parameter and the flux linkage is as follows:
wherein, U q Q-axis voltage, R, of a permanent magnet synchronous machine s Is the stator resistance of a permanent magnet synchronous motor, I q Q-axis current, L, for a permanent magnet synchronous machine q Q-axis inductance, L, of a permanent magnet synchronous machine d Is d-axis inductance of the PMSM, and ω is the electrical angular velocity of the PMSM, Ψ f Is the flux linkage of the permanent magnet synchronous motor. As can be seen from the relational expression of the motor parameters and the flux linkage, when the initial flux linkage coefficient of the permanent magnet synchronous motor is determined, the motor parameters required for calculating the flux linkage, such as the motor parameters of a mathematical model of the permanent magnet synchronous motor in a d-q coordinate system, are substituted into the relational expression to obtain the flux linkage psi f And combining the resulting flux linkage Ψ f And determining the initial flux linkage coefficient of the permanent magnet synchronous motor as the initial flux linkage coefficient. And the correction device of the flux linkage coefficient of the permanent magnet synchronous motor can acquire the motor parameter once every preset time, such as 10ms, and the acquired motor parameter is the updated motor parameter, so that the initial flux linkage coefficient is updated.
And step 230, taking the initial flux linkage coefficient as an initial value, substituting the initial value into a flux linkage expression of the permanent magnet synchronous motor, and calculating to obtain a real-time flux linkage numerical value of the permanent magnet synchronous motor.
Specifically, the flux linkage expression of the permanent magnet synchronous motor is as follows:
Ψf(t)＝Ψf(t-1)+kK(t)[X(t)-Y T (t)Ψf(t-1)]
the method comprises the following steps that psi f (t) is a real-time flux linkage numerical value at the moment t, psi f (t-1) is a real-time flux linkage numerical value at the moment t-1, K is an adjustable coefficient and can be used for carrying out fine adjustment on flux linkage, K (t) is a state gain matrix at the moment t, X (t) is a first constant matrix, and Y (t) is a second constant matrix. The first constant matrix and the second constant matrix may be determined by motor parameters of the PMSM, and the motor parameters may include a number of pole pairs of the PMSM, a viscous friction coefficient, a d-axis inductance, a q-axis inductance, a stator resistance, and the like. For the flux linkage expression of the permanent magnet synchronous motor, the initial flux linkage coefficient can be used as an initial value, that is, the flux linkage value Ψ f (0) at the initial time, and then the flux linkage value at the next time of the initial time can be calculated.
And 240, performing iterative calculation on the real-time flux linkage numerical value to obtain the flux linkage coefficient of the permanent magnet synchronous motor.
Specifically, the correction device for the flux linkage coefficient of the permanent magnet synchronous motor can be integrated in a controller, and the controller can perform iterative operation every 10 ms. Based on the flux linkage expression, iterative calculation can be performed on the flux linkage numerical value obtained by substituting the initial value to obtain a real-time flux linkage numerical value psi f (t) at the moment t, so that the flux linkage coefficient of the permanent magnet synchronous motor is determined.
And step 250, performing weighted operation on the flux linkage coefficients to obtain a weighted mean psi fjq of the flux linkage.
Specifically, the expression of the weighted mean Ψ fjq of the flux linkage is:
and Ψ f (i) is a flux linkage coefficient obtained by the ith calculation in a preset time period. The correcting device of the flux linkage coefficient of the permanent magnet synchronous motor can perform weighting operation once every 100ms so as to reduce the operation load of the controller and avoid occupying excessive resources in the flux linkage correcting process. If the controller performs iterative operation every 10ms, the controller can perform 10 iterative operations within 100ms, i in the expression of the weighted mean Ψ fjq of the flux linkage is from 0 to 9, that is, the controller performs 10 iterative operations, and weights the obtained 10 iterative operations, thereby obtaining the weighted mean Ψ fjq of the flux linkage.
And step 260, fitting the weighted mean value psi fjq, and determining the voltage and the current of the permanent magnet synchronous motor corresponding to the fitting result through table lookup according to the fitting result.
Specifically, the table lookup may be to find voltages and currents corresponding to different flux linkage values in a preset storage table, and the preset storage table may store the different flux linkage values, the voltages and currents corresponding to the different flux linkage values, and the preferred sequence of the voltages and currents in advance. If the range of the flux linkage values recorded in the preset storage table is wide, the fitting results obtained by fitting the weighted average value, such as a plurality of different flux linkage values, are usually recorded in the preset storage table, so that the fitting results, such as the voltages and currents of the permanent magnet synchronous motors corresponding to the plurality of different flux linkages, can be searched in the preset storage table.
And 270, taking the flux linkage coefficient corresponding to the voltage and the current of the first order of the voltage and the current as the optimal flux linkage coefficient of the permanent magnet synchronous motor.
Specifically, the motor is controlled by the voltage and the current at the first position of the preferred sequence in the voltages and the currents stored in the preset storage table, and the reliability of the control is higher than that of the control of the motor by the voltages and the currents corresponding to other positions except the first position in the preferred sequence, so that the flux linkage coefficient corresponding to the voltage and the current at the first position of the preferred sequence in the voltages and the currents stored in the preset storage table can be used as the optimal flux linkage coefficient of the permanent magnet synchronous motor, and the flux linkage coefficient can be corrected.
In addition, an input/output state transition matrix and a state observation matrix of a state observer of the permanent magnet synchronous motor can be constructed based on a mathematical model of the permanent magnet synchronous motor by adopting a modern control theory method, the state observer and the state matrix of the motor are important components in motor control such as vector control of the motor, and specific reference can be made to introduction of relevant data of the motor control, and details are not repeated herein. The constructed matrix can be used for analyzing the flux linkage reference value psi ref To provide a reference for the modified flux linkage.
In the method for correcting the flux linkage coefficient of the permanent magnet synchronous motor provided by the embodiment, the determined initial flux linkage coefficient of the permanent magnet synchronous motor is used as an initial value, the initial value is substituted into a flux linkage expression of the permanent magnet synchronous motor, a real-time flux linkage numerical value of the permanent magnet synchronous motor is obtained through calculation, and the real-time flux linkage numerical value is subjected to iterative calculation to obtain the flux linkage coefficient of the permanent magnet synchronous motor; performing weighting operation on the flux linkage coefficient to obtain a weighted average value of flux linkage, fitting the weighted average value, and determining the voltage and the current of the permanent magnet synchronous motor corresponding to the fitting result through table lookup according to the fitting result; and taking the flux linkage coefficient corresponding to the voltage and the current of the first preferred sequence in the voltage and the current as the optimal flux linkage coefficient of the permanent magnet synchronous motor. Compared with the existing method for correcting the flux linkage through the preset correction coefficient, the correction method for the flux linkage coefficient of the permanent magnet synchronous motor provided by the embodiment determines the optimal flux linkage coefficient of the permanent magnet synchronous motor according to the fitting result by performing weighted fitting on the flux linkage coefficient, namely corrects the flux linkage according to the real-time change condition of the flux linkage, and solves the problem that the correction accuracy is influenced by correcting the flux linkage through the given correction coefficient, so that the correction accuracy of the flux linkage coefficient is improved, and the control accuracy of the motor is further improved; and flux linkage dynamic calculation is not needed after flux linkage correction, dependence of engineers on flux linkage parameters in the development process of the motor controller can be reduced, the problem of reduction of program adaptability caused by large flux linkage parameter change is greatly reduced, the developed motor controller can be more stable, procedures of setting flux linkage parameters by factory values and the like are reduced, research and development cost is effectively reduced, and development time is saved.
EXAMPLE III
Fig. 3 is a block diagram of a correction apparatus for flux linkage coefficients of a permanent magnet synchronous motor according to a third embodiment of the present invention, where the correction apparatus for flux linkage coefficients of a permanent magnet synchronous motor includes a parameter obtaining module 310, an initial flux linkage determining module 320, a flux linkage coefficient determining module 330, and an optimal coefficient determining module 340; the parameter obtaining module 310 is configured to obtain a motor parameter of the permanent magnet synchronous motor; the initial flux linkage determining module 320 is configured to determine an initial flux linkage coefficient of the permanent magnet synchronous motor according to a relationship between a motor parameter and a flux linkage based on a mathematical model of the permanent magnet synchronous motor; the flux linkage coefficient determining module 330 is configured to use the initial flux linkage coefficient as an initial value, and substitute the initial value into a flux linkage expression of the permanent magnet synchronous motor to perform iterative computation, so as to determine the flux linkage coefficient of the permanent magnet synchronous motor; the optimal coefficient determining module 340 is configured to perform weighting operation on the flux linkage coefficient, fit the weighting result, and determine an optimal flux linkage coefficient of the permanent magnet synchronous motor according to the fitting result.
Optionally, the flux linkage coefficient determining module 330 includes a real-time flux linkage numerical value determining unit and a flux linkage coefficient determining unit; the real-time flux linkage value determining unit is used for substituting the initial value into a flux linkage expression of the permanent magnet synchronous motor and calculating to obtain a real-time flux linkage value of the permanent magnet synchronous motor; and the flux linkage coefficient determining unit is used for performing iterative calculation on the real-time flux linkage numerical value to obtain the flux linkage coefficient of the permanent magnet synchronous motor. The flux linkage expression is:
Ψf(t)＝Ψf(t-1)+kK(t)[X(t)-Y T (t)Ψf(t-1)]
the method comprises the following steps that psi f (t) is a real-time flux linkage value at the moment t, psi f (t-1) is a real-time flux linkage value at the moment t-1, K is an adjustable coefficient, K (t) is a state gain matrix at the moment t, X (t) is a first constant matrix, and Y (t) is a second constant matrix.
In one embodiment, the optimal coefficient determining module 340 includes a weighted mean determining unit and an optimal coefficient determining unit; the weighted mean determining unit is used for performing weighted operation on the flux linkage coefficients to obtain a weighted mean psi fjq of the flux linkage; and the optimal coefficient determining unit is used for fitting the weighted mean psi fjq and determining the optimal flux linkage coefficient according to a fitting result. The weighted mean Ψ fjq of the flux linkage is expressed as:
and Ψ f (i) is a flux linkage coefficient obtained by the ith calculation in a preset time period.
Preferably, the optimal coefficient determining unit comprises a table look-up sub-unit and an optimal coefficient determining sub-unit; the table lookup subunit is used for determining the voltage and the current of the permanent magnet synchronous motor corresponding to the fitting result through table lookup according to the fitting result; and the optimal coefficient determining subunit is used for taking the flux linkage coefficient corresponding to the voltage and the current of the first preferred sequence in the voltage and the current as the optimal flux linkage coefficient of the permanent magnet synchronous motor.
The device for correcting the flux linkage coefficient of the permanent magnet synchronous motor provided by the embodiment of the invention and the method for correcting the flux linkage coefficient of the permanent magnet synchronous motor provided by any embodiment of the invention belong to the same inventive concept, have corresponding beneficial effects, and detailed technical details in the embodiment are not referred to in the method for correcting the flux linkage coefficient of the permanent magnet synchronous motor provided by any embodiment of the invention.
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 modifications, rearrangements, combinations 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 method for correcting flux linkage coefficients of a permanent magnet synchronous motor is characterized by comprising the following steps:
obtaining motor parameters of the permanent magnet synchronous motor;
determining an initial flux linkage coefficient of the permanent magnet synchronous motor according to the relation between the motor parameter and the flux linkage based on a mathematical model of the permanent magnet synchronous motor;
taking the initial flux linkage coefficient as an initial value, substituting the initial value into a flux linkage expression of the permanent magnet synchronous motor to carry out iterative computation, and determining the flux linkage coefficient of the permanent magnet synchronous motor;
and performing weighting operation on the flux linkage coefficients, fitting the weighting result, and determining the optimal flux linkage coefficient of the permanent magnet synchronous motor according to the fitting result.
2. The method for correcting the flux linkage coefficient of the permanent magnet synchronous motor according to claim 1, wherein the step of substituting the initial value into the flux linkage expression of the permanent magnet synchronous motor to perform iterative computation to determine the flux linkage coefficient of the permanent magnet synchronous motor comprises the steps of:
substituting the initial value into a flux linkage expression of the permanent magnet synchronous motor, and calculating to obtain a real-time flux linkage numerical value of the permanent magnet synchronous motor;
and carrying out iterative calculation on the real-time flux linkage numerical value to obtain the flux linkage coefficient of the permanent magnet synchronous motor.
3. The method for correcting the flux linkage coefficient of the permanent magnet synchronous motor according to claim 1, wherein the flux linkage expression is as follows:
Ψf(t)＝Ψf(t-1)+kK(t)[X(t)-Y T (t)Ψf(t-1)]
the method comprises the following steps that psi f (t) is a real-time flux linkage value at the moment t, psi f (t-1) is a real-time flux linkage value at the moment t-1, K is an adjustable coefficient, K (t) is a state gain matrix at the moment t, X (t) is a first constant matrix, and Y (t) is a second constant matrix.
4. The method for correcting the flux linkage coefficient of the permanent magnet synchronous motor according to claim 1, wherein the relation between the motor parameter and the flux linkage is as follows:
wherein, U q Q-axis voltage, R, of a permanent magnet synchronous machine s Is the stator resistance of a permanent magnet synchronous motor, I q Q-axis current, I, for a permanent magnet synchronous machine d D-axis current, L, for a permanent magnet synchronous machine q Q-axis inductance, L, for a permanent magnet synchronous machine d Is d-axis inductance of the PMSM, and ω is the electrical angular velocity of the PMSM, Ψ f Is the flux linkage of the permanent magnet synchronous motor.
5. The method for correcting the flux linkage coefficient of the permanent magnet synchronous motor according to claim 1, wherein the step of performing weighting operation on the flux linkage coefficient, fitting the weighting result, and determining the optimal flux linkage coefficient of the permanent magnet synchronous motor according to the fitting result comprises:
performing weighted operation on the flux linkage coefficient to obtain a weighted mean psi fjq of the flux linkage;
and fitting the weighted mean Ψ fjq, and determining an optimal flux linkage coefficient according to a fitting result.
6. The method for correcting the flux linkage coefficient of the permanent magnet synchronous motor according to claim 5, wherein the expression of the weighted mean Ψ fjq of the flux linkage is as follows:
wherein e is a natural constant, the value of e is 2.71828, and Ψ f (i) is a flux linkage coefficient obtained by the ith calculation in a preset time period.
7. The method for correcting the flux linkage coefficient of the permanent magnet synchronous motor according to claim 5, wherein the determining the optimal flux linkage coefficient according to the fitting result comprises:
according to the fitting result, determining the voltage and the current of the permanent magnet synchronous motor corresponding to the fitting result through table lookup;
and taking the flux linkage coefficient corresponding to the voltage and the current at the first order in the voltage and the current as the optimal flux linkage coefficient of the permanent magnet synchronous motor.
8. The method of claim 1, wherein the motor parameters include an electrical angular velocity, a q-axis voltage, a q-axis current, a d-axis inductance, a q-axis inductance, and a stator resistance of the permanent magnet synchronous motor.
9. A device for correcting flux linkage coefficients of a permanent magnet synchronous motor is characterized by comprising:
the parameter acquisition module is used for acquiring motor parameters of the permanent magnet synchronous motor;
the initial flux linkage determining module is used for determining an initial flux linkage coefficient of the permanent magnet synchronous motor according to the relation between the motor parameter and the flux linkage based on a mathematical model of the permanent magnet synchronous motor;
the flux linkage coefficient determining module is used for taking the initial flux linkage coefficient as an initial value, substituting the initial value into a flux linkage expression of the permanent magnet synchronous motor to carry out iterative calculation, and determining the flux linkage coefficient of the permanent magnet synchronous motor;
and the optimal coefficient determining module is used for performing weighting operation on the flux linkage coefficient, fitting the weighting result and determining the optimal flux linkage coefficient of the permanent magnet synchronous motor according to the fitting result.
10. The apparatus for correcting a flux linkage coefficient of a permanent magnet synchronous motor according to claim 9, wherein the flux linkage coefficient determining module comprises:
the real-time flux linkage value determining unit is used for substituting the initial value into a flux linkage expression of the permanent magnet synchronous motor and calculating to obtain a real-time flux linkage value of the permanent magnet synchronous motor;
and the flux linkage coefficient determining unit is used for performing iterative calculation on the real-time flux linkage numerical value to obtain the flux linkage coefficient of the permanent magnet synchronous motor.
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