CN114337434B - Permanent magnet motor parameter offline identification method considering inductance saturation effect - Google Patents
Permanent magnet motor parameter offline identification method considering inductance saturation effect Download PDFInfo
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Abstract
The invention provides a permanent magnet motor parameter offline identification method considering inductance saturation effect, which considers that the permanent magnet motor parameter identification is affected by the existence of saturation effect in a permanent magnet motor flux linkage and the existence of inherent nonlinearity of an inverter. In the rated current range of the permanent magnet motor, d-axis and q-axis inductances of the permanent magnet motor are in different saturation effects by gradually increasing the d-axis and q-axis reference currents of the permanent magnet motor, and d-axis and q-axis inductances of the permanent magnet motor under different currents are identified by the d-axis and q-axis flux linkages under different reference currents and the variation amounts of the currents.
Description
Technical Field
The invention belongs to the field of permanent magnet motor parameter identification and permanent magnet motor high-performance control, and particularly relates to a permanent magnet motor parameter offline identification method considering an inductance saturation effect.
Background
The permanent magnet motor has the advantages of high efficiency, high torque control precision, high power density and the like, so the permanent magnet motor is widely used in industrial equipment. The motor parameters play a decisive role in the high-performance control of the permanent magnet motor, and because of unavoidable differences between the design and the manufacture of the motor body, the permanent magnet motor parameters in the finite element design are difficult to directly use in the motor control, and the development of a high-precision permanent magnet motor parameter identification algorithm is urgently needed. Some scholars at home and abroad propose a plurality of different permanent magnet motor parameter identification algorithms, and the algorithms can be mainly divided into two main categories, wherein one category of permanent magnet motor is in a static state to identify the permanent magnet motor parameters, and the other category of permanent magnet motor is in a rotating state to identify the permanent magnet motor parameters. Because saturation effect exists in the flux linkage and inherent nonlinearity characteristic exists in the inverter, the permanent magnet motor parameter identification is influenced, and in order to improve the permanent magnet motor offline parameter identification precision, an offline parameter identification method of the permanent magnet motor considering inductance saturation effect and the nonlinear characteristic of the inverter is needed to be provided.
In order to improve the parameter identification precision of the permanent magnet motor, the patent No. CN2018115892315.4, namely an online parameter identification method for a salient pole permanent magnet synchronous motor, enables the motor to be in a rotating state and takes the saturation effect of a fixed current point into consideration to identify the inductance parameter of the permanent magnet motor, but the method does not take the saturation effect of the inductance under different d-axis and q-axis currents into consideration, and meanwhile, the complexity of motor control is greatly increased by the online parameter identification method. The patent 201610609661.3 'method for identifying parameters of permanent magnet synchronous motor' considers the influence of nonlinear characteristics of an inverter on inductance identification, but the method does not consider the saturation effect of d-axis and q-axis inductances, and meanwhile, the method adopts a proportional integral regulator and fundamental wave signal extraction to identify d-axis and q-axis inductances, and the fundamental wave signal extraction method is generally complex and has low precision, so that the identification precision of d-axis and q-axis inductances of the permanent magnet motor needs to be improved. At present, no better permanent magnet motor parameter identification method can simultaneously meet the following conditions: 1) Considering that d-axis and q-axis flux linkages of the permanent magnet motor are in different saturation degrees to identify d-axis and q-axis inductances; 2) Considering the influence of the nonlinearity of the inverter on the inductance identification; 3) The permanent magnet motor is always in a static state, and the motor parameter identification precision is high; therefore, there is an urgent need to develop a simple and practical method for identifying offline parameters of a permanent magnet motor.
Disclosure of Invention
In order to improve the parameter identification precision of the permanent magnet motor, the invention provides a parameter offline identification method considering that the inductance is under different saturation effects. And identifying the stator resistance by taking a plurality of groups of different currents and voltages near the rated current of the motor, and acquiring the curve of the nonlinear voltage and the current of the inverter according to the stator voltage, the current and the identified stator resistance, so that the error caused by the nonlinearity of the inverter is compensated before the d-axis inductance and the q-axis inductance of the permanent magnet motor are identified. In the rated current range of the permanent magnet motor, d-axis and q-axis inductances of the permanent magnet motor are in different saturation effects by gradually increasing the reference currents of the d-axis and q-axis of the permanent magnet motor, and when the fact that the d-axis and q-axis currents of the permanent magnet motor pass through the lowest point of the reference current values is detected, the d-axis and q-axis inductances of the permanent magnet motor are identified by adopting the variable quantities of the d-axis and q-axis flux linkages and the currents of the permanent magnet motor.
The technical scheme adopted by the invention is as follows: an off-line identification method for parameters of a permanent magnet motor considering inductance saturation effect comprises the following steps:
step 1: according to rated current I on nameplate of permanent magnet motor e The number of points to be identified under different currents is set as N, and the increment of the reference currents of the d axis and the q axis of the permanent magnet motor is dI=I e N, and setting the d-axis reference current of the permanent magnet motorReference current +.>Initial value of I e N, the voltage amplitude of the d axis or q axis of the permanent magnet motor injected in each control period is set as U max ，U max The value is 0.3 times of the rated voltage amplitude of the permanent magnet motor;
step 2: first, setting the d-axis reference of the permanent magnet motorElectric currentInitial value of I e N, injecting the voltage U with constant magnitude in the step 1 into the d axis of the permanent magnet motor max The average value of the d-axis sampling current of the permanent magnet motor recorded 1000 times under each group of reference current values is set as I av Average value with injection voltage is set as U av After the recording of a group of sampling current and injection voltage is completed, the d-axis reference current value of the permanent magnet motor is increased by dI;
wherein dI is the d-axis and q-axis reference current increment set in step 1, U max The size of the voltage is 0.3 times of the rated voltage amplitude of the permanent magnet motor;
step 3: repeating the step 2 until the d-axis reference current value of the permanent magnet motor is increased to be within the preset range of rated current of the permanent magnet motor, and recording N groups of d-axis sampling current average values I of the permanent magnet motor at the stage av Average value U of injection voltage av ；
Step 4: when the current of the permanent magnet motor reaches 0.7 times of rated current I e When the d-axis current of the permanent magnet motor reaches more than 0.8 times of rated current, taking the average value I of d-axis sampling currents of three groups of different permanent magnet motors av Average value U of injection voltage av Then, a linear regression method is adopted to identify the stator resistance R of the permanent magnet motor s ；
Step 5: according to the average value of the d-axis sampling current and the injection voltage of the N groups of permanent magnet motors recorded in the step 3 and the stator resistance of the permanent magnet motors identified in the step 4, the error voltage caused by the nonlinearity of the inverter under different currents can be estimated as follows:
U error (i)＝U av (i)-R s *I av (i)，i＝1,2...N
wherein U is av ,I av The average value of the d-axis injection voltage and the sampling current of the permanent magnet motor under each group of reference currents is U error ,R s Respectively an inverter nonlinear voltage and a permanent magnet motor stator resistance, i is a recordA sequence number for each group;
step 6: injecting the voltage U with constant magnitude in the step 1 into the d axis of the permanent magnet motor max And setting d-axis reference current of permanent magnet motorInitial value of I e N, when the d-axis current of the permanent magnet motor is detected to be greater than the d-axis reference current +.>When the injection voltage in the d-axis of the permanent magnet motor is set to be-U max When the d-axis current of the permanent magnet motor is detected to be smaller than the d-axis reference current +.>When the injection voltage in the d-axis of the permanent magnet motor is set to be U max Otherwise, the injection voltage is kept at the injection voltage of the previous control period;
wherein U is max The size of the voltage is 0.3 times of the rated voltage amplitude of the permanent magnet motor;
step 7: the d-axis current of the permanent magnet motor passes through the reference current each timeWhen the stator flux linkage variable quantity of the d axis of the permanent magnet motor in the process is recorded as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,i sd flux linkage and current at (k+1) moment of d-axis k of permanent magnet motor respectively, R s ,T sc The sampling time, U, of the stator resistance and the system of the permanent magnet motor are respectively error U is the nonlinear voltage of the inverter obtained in the step 5 max The sign is a sign function for the voltage injected into the d axis of the permanent magnet motor at the current moment;
step 8: according to the d-axis flux linkage variable delta phi of the permanent magnet motor sd Delta i corresponding to d-axis current variation of permanent magnet motor sd The d-axis inductance of the permanent magnet motor can be identified as follows:
L d ＝Δψ sd /Δi sd
wherein L is d ,Δψ sd ,Δi sd The d-axis inductance, the flux linkage variable quantity and the current variable quantity of the permanent magnet motor are respectively;
step 9: after the inductance identification under the d-axis reference current of a group of permanent magnet motors is completed, the d-axis reference current of the permanent magnet motors is further processed according to the increment dI of the d-axis reference current of the permanent magnet motors in the step 1Setting dI as a new initial value of the d-axis reference current of the permanent magnet motor each time, and repeating the steps 6, 7 and 8 to identify the values of the d-axis inductance of the permanent magnet motor under different reference currents until the d-axis reference current of the permanent magnet motor +.>The value of (2) reaches the rated current I of the permanent magnet motor e Within a preset range, then finishing the d-axis inductance identification of the permanent magnet motor;
further, the method further comprises:
step 10: the method for identifying the q-axis inductance of the permanent magnet motor is the same as the identification method for the d-axis inductance of the permanent magnet motor in the steps 6, 7, 8 and 9, and firstly, the q-axis reference current of the permanent magnet motor is setThe q-axis inductance is identified as an initial value, and then the q-axis reference current of the permanent magnet motor is gradually changed according to the q-axis current increment dI>To identify the q-axis inductance until the q-axis reference current of the permanent magnet motor +.>The value of (2) reaches the rated current I of the permanent magnet motor e Within a predetermined range, q-axis current of each permanent magnet motor passes through q-axis reference current +.>Or reference current +>When the method is used, the change of the flux linkage and the current of the q-axis of the permanent magnet motor is adopted to identify that the q-axis inductance of the permanent magnet motor is as follows:
L q ＝Δψ sq /Δi sq
dI is the d-axis and q-axis reference current increment set in step 1, L q ,Δψ sq ,Δi sq The q-axis inductance, the flux linkage variable quantity and the current variable quantity of the permanent magnet motor are respectively;
further, the method further comprises:
step 11: after the identification of d-axis and q-axis inductances of the permanent magnet motor under different reference currents is completed, the d-axis and q-axis inductances of the permanent magnet motor are used for reference currentsAnd->And establishing a two-dimensional table of the d-axis inductance and the q-axis inductance of the corresponding permanent magnet motor for the independent variable so as to be used for online inquiry.
Further, the step 2 specifically includes: firstly, setting d-axis reference current of a permanent magnet motorInitial value of I e N, injecting the voltage U with constant magnitude in the step 1 into the d axis of the permanent magnet motor max When the d-axis current is detected to be greater than the d-axis reference currentWhen the injection voltage in the d-axis of the permanent magnet motor is set to be zeroWhen it is detected that the d-axis current is smaller than the d-axis reference current +.>When the injection voltage in the d-axis of the permanent magnet motor is set to be U max Otherwise, the injection voltage is kept in the previous control period, and the average value of 1000 times of permanent magnet motor d-axis sampling current recorded under each group of reference current values is set as I av Average value with injection voltage is set as U av After the recording of a group of sampling current and injection voltage is completed, the d-axis reference current value of the permanent magnet motor is increased by dI;
dI is the d-axis and q-axis reference current increment set in the step 1;
further, in the step 4, a linear regression method is adopted to identify the resistance R of the stator of the permanent magnet motor s The method comprises the following steps:
wherein, sigma is the sum operation symbol, U av ,I av And respectively taking the average value of the d-axis injection voltage and the sampling current of the permanent magnet motor under each group of reference currents, wherein i is the serial number of each group, and M is equal to 3.
The invention has the following characteristics and advantages:
(1) A plurality of groups of different current and voltage values are taken near rated current of the permanent magnet motor to identify a stator resistance, and a nonlinear voltage and current curve of the inverter is obtained according to the stator voltage, the current and the resistance;
(2) According to the obtained nonlinear curve of the inverter, errors caused by the nonlinear of the inverter to the identification of d-axis and q-axis inductances of the permanent magnet motor can be compensated;
(3) Gradually increasing d-axis and q-axis reference currents of the permanent magnet motor to enable the inductance to be under different saturation effects, and identifying d-axis and q-axis inductances of the permanent magnet motor under different currents by adopting the d-axis and q-axis flux linkage and the variation of the currents under each group of reference currents;
(4) The stator current of the permanent magnet motor is changed back and forth between the positive and negative d-axis reference currents and the q-axis reference current by injecting positive and negative voltage, so that the permanent magnet motor is always in a static state in the whole parameter identification process.
Drawings
FIG. 1 is a block diagram of permanent magnet motor parameter identification hardware and system;
FIG. 2 is a control block diagram of a permanent magnet motor parameter identification system;
FIG. 3 is a d-axis current waveform for permanent magnet motor stator resistance identification;
FIG. 4 is a permanent magnet motor stator resistance identification result;
FIG. 5 is a graph of d-axis current waveforms for different degrees of current saturation for a permanent magnet motor;
FIG. 6 shows the d-axis inductance identification results for different current saturation levels of a permanent magnet motor;
FIG. 7 is a waveform of q-axis current for a permanent magnet motor at different current saturation levels;
fig. 8 shows q-axis inductance identification results of the permanent magnet motor at different current saturation levels.
Detailed Description
The invention is further described below with reference to the drawings and detailed description.
In the following embodiments, the permanent magnet motor is exemplified as an embedded permanent magnet motor, and the inverter is exemplified as a two-level voltage type inverter, but this is merely for explaining the present invention and is not intended to limit the scope of the present invention.
Fig. 1 is a block diagram of a hardware circuit and system of the present invention, including an embedded permanent magnet motor, a two-level inverter, a bus capacitor, a dc side voltage sampling circuit, a three-phase current sampling circuit, a digital processing controller, and a driving circuit. The voltage and current Hall sensors are used for respectively collecting the voltage of a direct-current side bus and the a-phase current and the b-phase current of the embedded permanent magnet motor, and then the voltage and the current Hall sensors are input into the DSP controller to be converted into digital signals after passing through the signal conditioning circuit.
The validity of the permanent magnet motor parameter identification method provided by the invention is verified in the digital processing controller DSP28335, the digital processing controller DSP28335 outputs six paths of pulse width modulation signals, and then the driving pulse signals of six switching tubes of the two-level inverter are obtained through the driving circuit.
Fig. 2 is a control block diagram for identifying parameters of a permanent magnet motor according to the present invention, wherein the control block diagram includes: the method is realized on a DSP28335 processor in FIG. 1 in sequence according to the following steps:
step 1: according to rated current I on nameplate of permanent magnet motor e The number of points to be identified under different currents is set as N, and the increment of the reference currents of the d axis and the q axis of the permanent magnet motor is dI=I e N, and setting the d-axis reference current of the permanent magnet motorReference current +.>Initial value of I e N, the voltage amplitude of d-axis or q-axis injected into the permanent magnet motor in each control period is set as U max ，U max The value is 0.3 times of the rated voltage amplitude of the permanent magnet motor;
step 2: firstly, setting d-axis reference current of a permanent magnet motorInitial value of I e N, injecting the voltage U with constant magnitude in the step 1 into the d axis of the permanent magnet motor max When it is detected that the d-axis current is greater than the d-axis reference current +.>When the d-axis current is detected to be smaller than the d-axis reference current +.>When the injection voltage in the d-axis of the permanent magnet motor is set to be U max Otherwise, the injection voltage is kept in the previous control period, and the average value of 1000 times of permanent magnet motor d-axis sampling current recorded under each group of reference current values is set as I av And annotateThe average value of the voltage is set as U av After the recording of a group of sampling current and injection voltage is completed, the d-axis reference current value of the permanent magnet motor is increased by dI;
wherein dI is the d-axis and q-axis reference current increment set in step 1, U max The size of the voltage is 0.3 times of the rated voltage amplitude of the permanent magnet motor.
Step 3: repeating the step 2 until the d-axis reference current value of the permanent magnet motor is increased to be within the preset range of rated current of the permanent magnet motor, and recording N groups of d-axis sampling current average values I of the permanent magnet motor at the stage av Average value U of injection voltage av ；
Step 4: when the current of the permanent magnet motor reaches 0.7 times of rated current I e When the d-axis current of the permanent magnet motor reaches more than 0.8 times of rated current, taking the average value I of d-axis sampling currents of three groups of different permanent magnet motors av Average value U of injection voltage av Then, a linear regression method is adopted to identify the stator resistance R of the permanent magnet motor s The method comprises the following steps:
wherein, sigma is the sum operation symbol, U av ,I av Respectively taking the average value of the d-axis injection voltage and the sampling current of the permanent magnet motor under each group of reference currents, wherein i is the serial number of each group, and M is equal to 3;
step 5: according to the average value of the d-axis sampling current and the injection voltage of the N groups of permanent magnet motors recorded in the step 3 and the stator resistance of the permanent magnet motors identified in the step 4, the error voltage caused by the nonlinearity of the inverter under different currents can be estimated as follows:
U error (i)＝U av (i)-R s *I av (i)，i＝1,2...N
wherein U is av ,I av The average value of the d-axis injection voltage and the sampling current of the permanent magnet motor under each group of reference currents is U error ,R s Respectively obtaining nonlinear voltage of an inverter and stator resistance of a permanent magnet motor, wherein i is a serial number of each group;
step 6: injecting the voltage U with constant magnitude in the step 1 into the d axis of the permanent magnet motor max And setting d-axis reference current of permanent magnet motorInitial value of I e N, when the d-axis current of the permanent magnet motor is detected to be greater than the d-axis reference current +.>When the injection voltage in the d-axis of the permanent magnet motor is set to be-U max When the d-axis current of the permanent magnet motor is detected to be smaller than the d-axis reference current +.>When the injection voltage in the d-axis of the permanent magnet motor is set to be U max Otherwise, the injection voltage is kept at the injection voltage of the previous control period;
wherein U is max The size of the voltage is 0.3 times of the rated voltage amplitude of the permanent magnet motor;
step 7: the d-axis current of the permanent magnet motor passes through the reference current each timeWhen the stator flux linkage variable quantity of the d axis of the permanent magnet motor in the process is recorded as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,i sd flux linkage and current at (k+1) moment of d-axis k of permanent magnet motor respectively, R s ,T sc The sampling time, U, of the stator resistance and the system of the permanent magnet motor are respectively error U is the nonlinear voltage of the inverter obtained in the step 5 max The d-axis middle injection of the permanent magnet motor at the current momentThe input voltage sign is a sign function;
step 8: according to the d-axis flux linkage variable delta phi of the permanent magnet motor sd Delta i corresponding to d-axis current variation of permanent magnet motor sd The d-axis inductance of the permanent magnet motor can be identified as follows:
L d ＝Δψ sd /Δi sd
wherein L is d ,Δψ sd ,Δi sd The d-axis inductance, the flux linkage variable quantity and the current variable quantity of the permanent magnet motor are respectively;
step 9: after the inductance identification under the d-axis reference current of a group of permanent magnet motors is completed, the d-axis reference current of the permanent magnet motors is further processed according to the increment dI of the d-axis reference current of the permanent magnet motors in the step 1Setting dI as a new initial value of the d-axis reference current of the permanent magnet motor each time, and repeating the steps 6, 7 and 8 to identify the values of the d-axis inductance of the permanent magnet motor under different reference currents until the d-axis reference current of the permanent magnet motor +.>The value of (2) reaches the rated current I of the permanent magnet motor e Within a preset range, then finishing the d-axis inductance identification of the permanent magnet motor;
step 10: the method for identifying the q-axis inductance of the permanent magnet motor is the same as the identification method for the d-axis inductance of the permanent magnet motor in the steps 6, 7, 8 and 9, and firstly, the q-axis reference current of the permanent magnet motor is setThe q-axis inductance is identified as an initial value, and then the q-axis reference current of the permanent magnet motor is gradually changed according to the q-axis current increment dI>To identify the q-axis inductance until the q-axis reference current of the permanent magnet motor +.>The value of (2) reaches the rated current I of the permanent magnet motor e Within a predetermined range, q-axis current of each permanent magnet motor passes through q-axis reference current +.>Or reference current +>When the method is used, the change of the flux linkage and the current of the q-axis of the permanent magnet motor is adopted to identify that the q-axis inductance of the permanent magnet motor is as follows:
L q ＝Δψ sq /Δi sq
dI is the d-axis and q-axis reference current increment set in step 1, L q ,Δψ sq ,Δi sq The q-axis inductance, the flux linkage variable quantity and the current variable quantity of the permanent magnet motor are respectively;
step 11: after the identification of d-axis and q-axis inductances of the permanent magnet motor under different reference currents is completed, the d-axis and q-axis inductances of the permanent magnet motor are used for reference currentsAnd->And establishing a two-dimensional table of the d-axis inductance and the q-axis inductance of the corresponding permanent magnet motor for the independent variable so as to be used for online inquiry.
The effectiveness of the method is verified through simulation results in a matlab/simulink environment, as shown in fig. 3, 4, 5, 6, 7 and 8. FIG. 3 is a graph showing the d-axis current waveform during the identification of the stator resistance of the permanent magnet motor, wherein the voltage is injected to make the stator current of the permanent magnet motor reach the rated current rapidly, three different current values are taken to identify the stator resistance in the vicinity of the rated current, and the stator resistance values identified by the current and voltage values in each group are R respectively 1 、R 2 R is as follows 3 As shown in fig. 4, a linear regression method is further used to obtain a final identification value of the stator resistance of the permanent magnet motor. From the simulation results of fig. 4, it can be seen that: the invention provides a prescriptionThe stator resistance value identified by the method under different currents is almost equal to the true value, so the method provided by the invention has higher identification precision on the stator resistance of the permanent magnet motor.
Fig. 5 is a waveform of d-axis current in the d-axis inductance identification process of the permanent magnet motor under different current saturation degrees, and when the d-axis reference current is automatically changed on line to enable the permanent magnet motor to be in a saturation state of different currents, a hysteresis regulator is adopted to ensure that the actual current of the d-axis changes back and forth between the positive and negative of the d-axis reference current, and the q-axis injection voltage is used to enable the q-axis current to be always in fluctuation near zero. When the actual d-axis current passes through the negative value of the reference current each time, the d-axis flux linkage and the variation of the current in the period of time are acquired to identify d-axis inductance, and the inductance value identified each time is filtered to improve the inductance identification precision. The d-axis inductance value of the permanent magnet motor under different current saturation degrees is identified as shown in fig. 6, and the simulation result shows that: in ten times of d-axis inductance identification, each inductance identification value gradually approaches to a true value, so that the method provided by the invention has higher accuracy in the identification of d-axis inductance in different saturated states of the permanent magnet motor.
Fig. 7 is a waveform of q-axis current when the q-axis inductance of the permanent magnet motor is identified under different saturation degrees, and the q-axis reference current and the injection voltages of the d-axis and the q-axis are automatically changed on line to enable the q-axis actual current to change back and forth between the positive and negative of the q-axis reference current, and the d-axis actual current always fluctuates around zero. When the actual q-axis current passes through the positive and negative values of the reference current, the q-axis flux linkage and the current variation in the period of time are obtained to identify the q-axis inductance, and the q-axis inductance values of the permanent magnet motor under different current saturation degrees are totally identified by the invention, as shown in fig. 8. In ten times of q-axis inductance identification, the inductance identification value tends to be stable and close to the true value every time, so that the identification accuracy of the q-axis inductance in different saturated states of the permanent magnet motor is higher.
While the foregoing has described illustrative embodiments of the invention, it is convenient for those skilled in the art to understand the invention. It should be understood that the invention is not limited to the precise embodiments and that various changes may be made by one skilled in the art without departing from the scope and spirit of the invention as defined in the appended claims.
Claims (5)
1. An off-line identification method for parameters of a permanent magnet motor considering inductance saturation effect is characterized by comprising the following steps:
step 1: according to rated current I on nameplate of permanent magnet motor e The number of points to be identified under different currents is set as N, and the increment of the reference currents of the d axis and the q axis of the permanent magnet motor is dI=I e N, and setting the d-axis reference current of the permanent magnet motorReference current +.>Initial value of I e N, the voltage amplitude of the d axis or q axis of the permanent magnet motor injected in each control period is set as U max ，U max The value is 0.3 times of the rated voltage amplitude of the permanent magnet motor;
step 2: firstly, setting d-axis reference current of a permanent magnet motorInitial value of I e N, injecting the voltage U with constant magnitude in the step 1 into the d axis of the permanent magnet motor max The average value of the d-axis sampling current of the permanent magnet motor recorded 1000 times under each group of reference current values is set as I av Average value with injection voltage is set as U av After the recording of a group of sampling current and injection voltage is completed, the d-axis reference current value of the permanent magnet motor is increased by dI;
wherein dI is the d-axis and q-axis reference current increment set in step 1, U max The size of the voltage is 0.3 times of the rated voltage amplitude of the permanent magnet motor;
step 3: repeating the step 2 until the d-axis reference current value of the permanent magnet motor is increased to be permanent magnetIn the preset range of rated current of the motor, the average value I of d-axis sampling currents of N groups of permanent magnet motors is recorded altogether at the stage av Average value U of injection voltage av ；
Step 4: when the current of the permanent magnet motor reaches 0.7 times of rated current I e When the d-axis current of the permanent magnet motor reaches more than 0.8 times of rated current, taking the average value I of d-axis sampling currents of three groups of different permanent magnet motors av Average value U of injection voltage av Then, a linear regression method is adopted to identify the stator resistance R of the permanent magnet motor s ；
Step 5: according to the average value of the d-axis sampling current and the injection voltage of the N groups of permanent magnet motors recorded in the step 3 and the stator resistance of the permanent magnet motors identified in the step 4, the error voltage caused by the nonlinearity of the inverter under different currents can be estimated as follows:
U error (i)＝U av (i)-R s *I av (i)，i＝1,2...N
wherein U is av ,I av The average value of the d-axis injection voltage and the sampling current of the permanent magnet motor under each group of reference currents is U error ,R s Respectively obtaining nonlinear voltage of an inverter and stator resistance of a permanent magnet motor, wherein i is a serial number of each group;
step 6: injecting the voltage U with constant magnitude in the step 1 into the d axis of the permanent magnet motor max And setting d-axis reference current of permanent magnet motorInitial value of I e N, when the d-axis current of the permanent magnet motor is detected to be greater than the d-axis reference current +.>When the injection voltage in the d-axis of the permanent magnet motor is set to be-U max When the d-axis current of the permanent magnet motor is detected to be smaller than the d-axis reference current +.>When the injection voltage in the d-axis of the permanent magnet motor is set to be U max Otherwise, the injection voltage is kept at the injection voltage of the previous control period;
step 7: the d-axis current of the permanent magnet motor passes through the reference current each timeWhen the stator flux linkage variable quantity of the d axis of the permanent magnet motor in the process is recorded as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,flux linkage and current at (k+1) moment of d-axis k of permanent magnet motor respectively, R s ,T sc The sampling time, U, of the stator resistance and the system of the permanent magnet motor are respectively error U is the nonlinear voltage of the inverter obtained in the step 5 max The sign is a sign function for the voltage injected into the d axis of the permanent magnet motor at the current moment;
step 8: according to the d-axis flux linkage variable delta phi of the permanent magnet motor sd Delta i corresponding to d-axis current variation of permanent magnet motor sd The d-axis inductance of the permanent magnet motor can be identified as follows:
L d ＝Δψ sd /Δi sd
wherein L is d ,Δψ sd ,Δi sd The d-axis inductance, the flux linkage variable quantity and the current variable quantity of the permanent magnet motor are respectively;
step 9: after the inductance identification under the d-axis reference current of a group of permanent magnet motors is completed, the d-axis reference current of the permanent magnet motors is further processed according to the increment dI of the d-axis reference current of the permanent magnet motors in the step 1Each time the value of dI is increased, the new initial value of the d-axis reference current of the permanent magnet motor is set,and repeating the steps 6, 7 and 8 to identify the values of the d-axis inductance of the permanent magnet motor under different reference currents until the d-axis reference current of the permanent magnet motor is +.>The value of (2) reaches the rated current I of the permanent magnet motor e And within a preset range, then finishing the d-axis inductance identification of the permanent magnet motor.
2. The method for offline identification of parameters of a permanent magnet motor with consideration of inductance saturation effect according to claim 1, further comprising:
step 10: the method for identifying the q-axis inductance of the permanent magnet motor is the same as the identification method for the d-axis inductance of the permanent magnet motor in the steps 6, 7, 8 and 9, and firstly, the q-axis reference current of the permanent magnet motor is setThe q-axis inductance is identified as an initial value, and then the q-axis reference current of the permanent magnet motor is gradually changed according to the q-axis current increment dI>To identify the q-axis inductance until the q-axis reference current of the permanent magnet motor +.>The value of (2) reaches the rated current I of the permanent magnet motor e Within a predetermined range, q-axis current of each permanent magnet motor passes through q-axis reference current +.>Or reference current +>When the method is used, the change of the flux linkage and the current of the q-axis of the permanent magnet motor is adopted to identify that the q-axis inductance of the permanent magnet motor is as follows:
L q ＝Δψ sq /Δi sq
dI is the d-axis and q-axis reference current increment set in step 1, L q ,Δψ sq ,Δi sq The q-axis inductance, the flux linkage variation and the current variation of the permanent magnet motor are respectively adopted.
3. The method for offline identification of parameters of a permanent magnet motor with consideration of inductance saturation effect according to claim 2, further comprising:
step 11: after the identification of d-axis and q-axis inductances of the permanent magnet motor under different reference currents is completed, the d-axis and q-axis inductances of the permanent magnet motor are used for reference currentsAnd->And establishing a two-dimensional table of the d-axis inductance and the q-axis inductance of the corresponding permanent magnet motor for the independent variable so as to be used for online inquiry.
4. The method for identifying parameters of a permanent magnet motor offline by considering the inductance saturation effect according to claim 1, wherein the step 2 specifically comprises: firstly, setting d-axis reference current of a permanent magnet motorInitial value of I e N, injecting the voltage U with constant magnitude in the step 1 into the d axis of the permanent magnet motor max Wherein U is max The size of the voltage is 0.3 times of the rated voltage amplitude of the permanent magnet motor; when it is detected that the d-axis current is greater than the d-axis reference current +.>When the d-axis current is detected to be smaller than the d-axis reference current +.>When the injection voltage in the d-axis of the permanent magnet motor is set to be U max Otherwise, the injection voltage is kept in the previous control period, and the average value of 1000 times of permanent magnet motor d-axis sampling current recorded under each group of reference current values is set as I av Average value with injection voltage is set as U av After the recording of a group of sampling current and injection voltage is completed, the d-axis reference current value of the permanent magnet motor is increased by dI;
wherein dI is the d-axis and q-axis reference current increment set in step 1.
5. The method for identifying parameters of a permanent magnet motor offline by considering the inductance saturation effect according to claim 1, wherein in the step 4, a linear regression method is adopted to identify the resistance R of the stator of the permanent magnet motor s The method comprises the following steps:
wherein, sigma is the sum operation symbol, U av ,I av And respectively taking the average value of the d-axis injection voltage and the sampling current of the permanent magnet motor under each group of reference currents, wherein i is the serial number of each group, and M is equal to 3.
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