CN113078852A - Real-time identification method for parameters of permanent magnet synchronous motor - Google Patents

Real-time identification method for parameters of permanent magnet synchronous motor Download PDF

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CN113078852A
CN113078852A CN202110391271.4A CN202110391271A CN113078852A CN 113078852 A CN113078852 A CN 113078852A CN 202110391271 A CN202110391271 A CN 202110391271A CN 113078852 A CN113078852 A CN 113078852A
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inductance
stator
flux linkage
motor
resistance
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CN113078852B (en
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林明耀
王帅
林克曼
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Southeast University
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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
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • 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
    • 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
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
    • 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
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P80/00—Climate change mitigation technologies for sector-wide applications
    • Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier

Abstract

The invention discloses a real-time identification method of a permanent magnet synchronous motor parameter, belonging to the field of motor control; the three-phase current, the rotor position and the rotating speed of the permanent magnet synchronous motor are converted and calculated, the characteristic that the extended observer can observe disturbance is fully utilized, and the transient process of the motor is detected; and then transforming a voltage equation of the permanent magnet synchronous motor, simultaneously processing the current and the voltage obtained by sampling according to the characteristics of different stator parameters, and respectively calculating the inductance, the resistance and the flux linkage of the stator through different state equations.

Description

Real-time identification method for parameters of permanent magnet synchronous motor
Technical Field
The disclosure belongs to the field of motor control, and particularly relates to a real-time identification method for parameters of a permanent magnet synchronous motor.
Background
With the continuous development of the present technology, the permanent magnet synchronous motor is widely applied to various occasions along with the wide application of the vector control technology of the permanent magnet synchronous motor; in the existing vector control technology including a modern control theory developed on the basis of a model, the control performance of a controller depends on parameters such as stator resistance, inductance, flux linkage and the like of a permanent magnet synchronous motor, and for the problem that the performance of the controller is reduced sharply due to the change of inductance caused by the increase of current or the change of resistance and flux linkage caused by the change of temperature, the corresponding parameters of the controller cannot be adapted; therefore, the permanent magnet synchronous motor parameters adopted in the controller can directly influence the performance of the whole speed regulating system;
at present, various parameters in the permanent magnet synchronous motor are generally identified by an off-line manual measurement method, and in the implementation process, at least the following problems exist in the conventional technology: the off-line method cannot accurately consider the influence of the temperature rise of the motor and the sudden increase of the current on the resistance, the inductance and the flux linkage of the stator, and cannot acquire the parameters in the running process of the motor; furthermore, the various online identification methods proposed at present, such as kalman filtering, least square method, etc., all use four-parameter simultaneous identification, and use a four-dimensional matrix which is iterated repeatedly, so the calculation amount is too large.
Disclosure of Invention
Aiming at the defects of the prior art, the disclosed method for identifying the parameters of the permanent magnet synchronous motor in real time can quickly, conveniently and accurately measure the resistance, the inductance and the flux linkage of the stator.
The purpose of the disclosure can be realized by the following technical scheme:
a real-time identification method for parameters of a permanent magnet synchronous motor is characterized by comprising the following steps:
s1 obtaining three-phase current i of the permanent magnet synchronous motora、ib、icAnd rotor position θ and rotational speed ω;
s2: obtaining a component i of the three-phase current under an alpha beta coordinate system by using Clark transformationαAnd iβWhile d-axis is given current id *And q-axis set current iq *Then inverse park transformation is used to obtain the d-axis given current id *And q-axis set current iq *Component i in the α β coordinate systemα *And iβ *；
S3: input i to the stator parameter observerαAnd iα *And calculating to obtain the real-time stator inductance L of the motor under the alpha beta coordinate systemα、LβStator resistor RsAnd flux linkage psif。
Further, the three-phase currents are obtained from a current sampling module, and the rotor position theta and the rotation speed omega are obtained from a position sensor module.
Further, the collected rotating speed omega and the given rated rotating speed omega are input into the rotating speed ring active disturbance rejection controller*Obtaining q-axis given current i by an active disturbance rejection controllerq *While d-axis is given current id *＝0。
Further, the i is respectively input to the alpha axis current loop active disturbance rejection controller and the beta axis current loop active disturbance rejection controllerα、iα *And iβ、iβ *To obtain an output first voltage uαAnd a second voltage uβAnd then inputting i to the motor parameter observerαAnd iα *And iβ、iβ *To obtain the real-time stator inductance L of the motor under the alpha-beta coordinate systemα、LβStator resistor RsAnd flux linkage psif。
Further, the stator inductance Lα、LβStator resistor RsAnd flux linkage psifThe calculation process of (2) is as follows:
the voltage equation of the permanent magnet synchronous motor in an alpha beta shaft system is as follows:
Figure BDA0003016832680000021
in the above formula Lα、LβInductance in the alpha-beta axis, omegarFor the electrical angular velocity, psi, of the rotorfIs a permanent magnet flux linkage, RsFor the real-time stator resistance of the motor, the voltage equation is changed to obtain:
Figure BDA0003016832680000022
taking into account the variations in resistance, inductance and flux linkage adequately, assume:
Figure BDA0003016832680000031
in the above formula,. DELTA.Lα，ΔLβ，ΔψfAnd Δ RsThe variable quantities are respectively the variable quantity of inductance under an alpha beta axis, the variable quantity of flux linkage of a motor stator and the variable quantity of stator resistance. In consideration of the above motor parameter variation, the motor voltage equation may be changed to:
Figure BDA0003016832680000032
Figure BDA0003016832680000033
wherein d isα、dβRespectively, the disturbance quantity caused by the variation of the stator parameter under the alpha beta shafting. The standard form of the first order system is further defined by:
Figure BDA0003016832680000034
in the above formula, f1(y,t)、f2(y, t) is a function related to the output quantity y, u is the input quantity, b is a coefficient of the input quantity u, and f1、f2And u are both known, assuming k is1＝k10+Δk1，k2＝k20+Δk2，b＝b0+Δb，k1，k2B is a parameter to be identified, k10，k20，b0Is an arbitrary set value, Δ k1，Δk2And delta b is the difference value between the actual value and the set value;
Figure BDA0003016832680000035
the first output z of the extended state observer in the stator parameter observer at this time1And a second output z2Comprises the following steps:
Figure BDA0003016832680000041
the first output z of the extended state observer in the stator parameter observer can be obtained from equation (6)1And a second output z2Comprises the following steps:
Figure BDA0003016832680000042
Figure BDA0003016832680000043
in the above formula,. DELTA.RsAnd delta phifRespectively, the value of the stator resistance and stator flux linkage change, DeltaL, due to the change in temperature of the motorαAnd Δ LβThe inductance variation caused by the inductance saturation due to the instantaneous current variation in the α β axis system is respectively.
From formulas (11) and (12):
Figure BDA0003016832680000044
since the mosfet switching frequency is higher by about 20khz, the change time of the inductance can be detected in time. Thus, there are the following specific methods:
detecting the amount of current change Δ i between two successive electrical cyclesαAnd Δ iβ：
(1)ΔiαNot less than 0.5A and delta i is detected in three consecutive testsαIf the frequency is more than or equal to 0.5A, operating an inductance detection algorithm, and keeping the detection frequency at 20 khz;
the inductance detection algorithm comprises the following steps: since the resistance and flux linkage are inertia quantities that change slowly due to temperature, it can be determined that the resistance and flux linkage do not change in time during a detection period, and thus there is a possibility that the resistance and flux linkage change in time
Figure BDA0003016832680000051
By substituting formula (14) for formula (13), it is possible to obtain:
Figure BDA0003016832680000052
the following can be obtained:
Figure BDA0003016832680000053
thus:
Figure BDA0003016832680000054
in the above formula LαLβIs a real-time inductance, L, of a motor under an alpha-beta shaftingα0Lβ0The initial inductance of the motor is alpha beta shafting;
(2) if the threshold mentioned in (1) is not triggered, normally running a resistance and flux linkage detection algorithm, and keeping the detection frequency at 500 hz;
the resistance and flux linkage detection algorithm: because the inductance detection frequency is high, the change is fast, and the resistance and the flux linkage are physical quantities with hysteresis change, the inductance is detected and iteration is completed, the resistance and the flux linkage can be changed in time, and thus the change of the inductance is 0 when the resistance and flux linkage detection algorithm is executed, so that:
Figure BDA0003016832680000061
substituting formula (18) for formula (13):
Figure BDA0003016832680000062
the following can be obtained:
Figure BDA0003016832680000063
as a result of this, the number of the,
Figure BDA0003016832680000064
in the above formula, RsAnd psifRespectively, the real-time motor stator resistance and flux linkage, Rs0And psif0The initial motor stator resistance and flux linkage, respectively.
The beneficial effect of this disclosure: the method fully utilizes the characteristic that the auto-disturbance rejection controller extended observer can observe disturbance, transforms a voltage equation of the permanent magnet synchronous motor, processes the sampled current and voltage, and calculates the stator inductance, the resistance and the flux linkage.
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In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a control flow chart of the present invention.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
As shown in fig. 1, a method for identifying parameters of a permanent magnet synchronous motor in real time is implemented based on a three-vector model without a voltage sensor, and specifically includes the following steps:
1) firstly, a current sampling module is utilized to collect three-phase current i of a permanent magnet synchronous motora、ib、icAnd the position sensor module is used for acquiring the information of the rotor position theta and the rotating speed omega of the permanent magnet synchronous motor.
2) Obtaining three-phase current i by Clark conversiona、ib、icComponent i in the α β coordinate systemαAnd iβNamely, 3s-2s coordinate transformation, as shown in the following formula (1):
Figure BDA0003016832680000071
then the collected rotation speed omega and the given rated rotation speed omega are input into the rotation speed ring active disturbance rejection controller*Obtaining q-axis given current i by an active disturbance rejection controllerq *While d-axis is given current id *＝0。
Obtaining i above by inverse park transformationd *And iq *Component i in the α β coordinate systemα *And iβ *I.e., 2r-2s coordinate transformation, is specifically calculated as the following formula (2):
Figure BDA0003016832680000072
3) respectively inputting the i to the alpha-axis current loop active disturbance rejection controller and the beta-axis current loop active disturbance rejection controllerα、iα *And iβ、iβ *To obtain an output first voltage uαAnd a second voltage uβAnd then inputting i to the motor parameter observerαAnd iα *And iβ、iβ *To obtain the real-time stator inductance L of the motor under the alpha-beta coordinate systemα、LβStator resistor RsAnd flux linkage psifThe specific calculation process is as follows:
the voltage equation of the permanent magnet synchronous motor in an alpha beta shaft system is as follows:
Figure BDA0003016832680000081
in the above formula Lα、LβInductance in the alpha-beta axis, omegarFor the electrical angular velocity, psi, of the rotorfIs a permanent magnet flux linkage, RsFor the real-time stator resistance of the motor, the voltage equation is changed to obtain:
Figure BDA0003016832680000082
taking into account the variations in resistance, inductance and flux linkage adequately, assume:
Figure BDA0003016832680000083
in the above formula,. DELTA.Lα，ΔLβ，ΔψfAnd Δ RsThe variable quantities are respectively the variable quantity of inductance under an alpha beta axis, the variable quantity of flux linkage of a motor stator and the variable quantity of stator resistance. In consideration of the above motor parameter variation, the motor voltage equation may be changed to:
Figure BDA0003016832680000084
Figure BDA0003016832680000085
wherein d isα、dβRespectively, the disturbance quantity caused by the variation of the stator parameter under the alpha beta shafting. And then by the following first order systemStandard type:
Figure BDA0003016832680000091
in the above formula, f1(y,t)、f2(y, t) is a function related to the output quantity y, u is the input quantity, b is a coefficient of the input quantity u, and f1、f2And u are both known, assuming k is1＝k10+Δk1，k2＝k20+Δk2，b＝b0+Δb，k1，k2B is a parameter to be identified, k10，k20，b0Is an arbitrary set value, Δ k1，Δk2And delta b is the difference value between the actual value and the set value;
Figure BDA0003016832680000092
the first output z of the extended state observer in the stator parameter observer at this time1And a second output z2Comprises the following steps:
Figure BDA0003016832680000093
the first output z of the extended state observer in the stator parameter observer can be obtained from equation (6)1And a second output z2Comprises the following steps:
Figure BDA0003016832680000094
Figure BDA0003016832680000095
in the above formula,. DELTA.RsAnd delta phifRespectively, the value of the stator resistance and stator flux linkage change, DeltaL, due to the change in temperature of the motorαAnd Δ LβAre each alphaThe inductance variation caused by the inductance saturation due to the instantaneous change of the current in the beta axis system;
from formulas (11) and (12):
Figure BDA0003016832680000101
since the mosfet switching frequency is higher by about 20khz, the change time of the inductance can be detected in time, and thus the following specific method is available:
detecting the amount of current change Δ i between two successive electrical cyclesαAnd Δ iβ：
(1)ΔiαNot less than 0.5A and delta i is detected in three consecutive testsαIf the frequency is more than or equal to 0.5A, operating an inductance detection algorithm, and keeping the detection frequency at 20 khz;
inductance detection algorithm: since the resistance and the flux linkage are inertia amounts that change slowly due to temperature, it can be considered that the resistance and the flux linkage do not change in time during one detection period. Then there are
Figure BDA0003016832680000102
By substituting formula (14) for formula (13), it is possible to obtain:
Figure BDA0003016832680000103
the following can be obtained:
Figure BDA0003016832680000104
thus:
Figure BDA0003016832680000105
in the above formula LαLβIs a real-time inductance, L, of a motor under an alpha-beta shaftingα0Lβ0The initial inductance of the motor is alpha beta shafting;
(2) if the threshold mentioned in (1) is not triggered, normally running a resistance and flux linkage detection algorithm, and keeping the detection frequency at 500 hz;
resistance and flux linkage detection algorithm: because the inductance detection frequency is high, the change is fast, and the resistance and the flux linkage are physical quantities with hysteresis change, the inductance is detected and iteration is completed, the resistance and the flux linkage can be changed in time, and thus the change of the inductance is 0 when the resistance and flux linkage detection algorithm is executed, so that:
Figure BDA0003016832680000111
substituting formula (18) for formula (13):
Figure BDA0003016832680000112
the following can be obtained:
Figure BDA0003016832680000113
as a result of this, the number of the,
Figure BDA0003016832680000114
in the above formula, RsAnd psifRespectively, the real-time motor stator resistance and flux linkage, Rs0And psif0The initial motor stator resistance and flux linkage, respectively.
Applying a first voltage uαAnd a second voltage uβThe control voltage output by the SVPWM modulation module enables the three-phase inverter bridge to be at the direct-current voltage VDCAnd the permanent magnet synchronous motor PMSM is driven under the action.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.

Claims (5)

1. A real-time identification method for parameters of a permanent magnet synchronous motor is characterized by comprising the following steps:
s1 obtaining three-phase current i of the permanent magnet synchronous motora、ib、icAnd rotor position θ and rotational speed ω;
s2: obtaining a component i of the three-phase current under an alpha beta coordinate system by using Clark transformationαAnd iβWhile d-axis is given current id *And q-axis set current iq *Then inverse park transformation is used to obtain the d-axis given current id *And q-axis set current iq *Component i in the α β coordinate systemα *And iβ *；
S3: input i to the stator parameter observerαAnd iα *And calculating to obtain the real-time stator inductance L of the motor under the alpha beta coordinate systemα、LβStator resistor RsAnd flux linkage psif。
2. The method according to claim 1, wherein the three-phase current is obtained from a current sampling module, and the rotor position θ and the rotation speed ω are obtained from a position sensor module.
3. The method of claim 1, wherein the collected rotation speed ω and the given rated rotation speed ω are inputted to the rotation speed loop active disturbance rejection controller*Obtaining q-axis given current i by an active disturbance rejection controllerq *While d-axis is given current id *＝0。
4. The method as claimed in claim 1, wherein the i is inputted to an α -axis current loop auto-disturbance rejection controller and a β -axis current loop auto-disturbance rejection controller respectivelyα、iα *And iβ、iβ *To obtain an output first voltage uαAnd a second voltage uβAnd then inputting i to the motor parameter observerαAnd iα *And iβ、iβ *To obtain the real-time stator inductance L of the motor under the alpha-beta coordinate systemα、LβStator resistor RsAnd flux linkage psif。
5. The method according to claim 4, wherein the stator inductance L is a value obtained by performing a linear transformation on the stator inductance Lα、LβStator resistor RsAnd flux linkage psifThe calculation process of (2) is as follows:
the voltage equation of the permanent magnet synchronous motor in an alpha beta shaft system is as follows:
Figure FDA0003016832670000021
in the above formula Lα、LβInductance in the alpha-beta axis, omegarFor the electrical angular velocity, psi, of the rotorfIs a permanent magnet flux linkage, RsFor real-time stator resistance of the motor, the voltage equation is changedObtaining:
Figure FDA0003016832670000022
taking into account the variations in resistance, inductance and flux linkage adequately, assume:
Figure FDA0003016832670000023
in the above formula,. DELTA.Lα，ΔLβ，ΔψfAnd Δ RsThe variable quantities are respectively the variable quantity of inductance under an alpha beta axis, the variable quantity of flux linkage of a motor stator and the variable quantity of stator resistance. In consideration of the above motor parameter variation, the motor voltage equation may be changed to:
Figure FDA0003016832670000024
wherein d isα、dβRespectively, the disturbance quantity caused by the variation of the stator parameter under the alpha beta shafting. The standard form of the first order system is further defined by:
Figure FDA0003016832670000031
in the above formula, f1(y,t)、f2(y, t) is a function related to the output quantity y, u is the input quantity, b is a coefficient of the input quantity u, and f1、f2And u are both known, assuming k is1＝k10+Δk1，k2＝k20+Δk2，b＝b0+Δb，k1，k2B is a parameter to be identified, k10，k20，b0Is an arbitrary set value, Δ k1，Δk2And delta b is the difference value between the actual value and the set value;
Figure FDA0003016832670000032
the first output z of the extended state observer in the stator parameter observer at this time1And a second output z2Comprises the following steps:
Figure FDA0003016832670000033
the first output z of the extended state observer in the stator parameter observer can be obtained from equation (6)1And a second output z2Comprises the following steps:
Figure FDA0003016832670000034
in the above formula,. DELTA.RsAnd delta phifRespectively, the value of the stator resistance and stator flux linkage change, DeltaL, due to the change in temperature of the motorαAnd Δ LβThe inductance variation caused by the inductance saturation due to the instantaneous current variation in the α β axis system is respectively.
From formulas (11) and (12):
Figure FDA0003016832670000041
since the mosfet switching frequency is higher by about 20khz, the change time of the inductance can be detected in time. Thus, there are the following specific methods:
detecting the amount of current change Δ i between two successive electrical cyclesαAnd Δ iβ：
(1)ΔiαNot less than 0.5A and delta i is detected in three consecutive testsαIf the frequency is more than or equal to 0.5A, operating an inductance detection algorithm, and keeping the detection frequency at 20 khz;
the inductance detection algorithm comprises the following steps: since the resistance and flux linkage are inertia quantities that change slowly due to temperature, it can be determined that the resistance and flux linkage do not change in time during a detection period, and thus there is a possibility that the resistance and flux linkage change in time
Figure FDA0003016832670000042
By substituting formula (14) for formula (13), it is possible to obtain:
Figure FDA0003016832670000043
the following can be obtained:
Figure FDA0003016832670000044
thus:
Figure FDA0003016832670000051
in the above formula LαLβIs a real-time inductance, L, of a motor under an alpha-beta shaftingα0Lβ0The initial inductance of the motor is alpha beta shafting;
(2) if the threshold mentioned in (1) is not triggered, normally running a resistance and flux linkage detection algorithm, and keeping the detection frequency at 500 hz;
the resistance and flux linkage detection algorithm: because the inductance detection frequency is high, the change is fast, and the resistance and the flux linkage are physical quantities with hysteresis change, the inductance is detected and iteration is completed, the resistance and the flux linkage can be changed in time, and thus the change of the inductance is 0 when the resistance and flux linkage detection algorithm is executed, so that:
Figure FDA0003016832670000052
substituting formula (18) for formula (13):
Figure FDA0003016832670000053
the following can be obtained:
Figure FDA0003016832670000054
as a result of this, the number of the,
Figure FDA0003016832670000055
in the above formula, RsAnd psifRespectively, the real-time motor stator resistance and flux linkage, Rs0And psif0The initial motor stator resistance and flux linkage, respectively.
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