CN116111896B - Motor control method, system, storage medium and electronic equipment - Google Patents
Motor control method, system, storage medium and electronic equipment Download PDFInfo
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Abstract
The application discloses a motor control method, a motor control system, a storage medium and electronic equipment, wherein parameters to be processed are obtained, and the parameters to be processed are obtainedThe parameters are parameters which are not processed through a preset time delay estimation model, disturbance estimation is carried out on the parameters to be processed and the parameters which meet preset selection conditions through the preset time delay estimation model, so that first system internal and external disturbance parameters and second system internal and external disturbance parameters are obtained, and the first system internal and external disturbance parameters represent the statordThe shaft contains internal and external disturbance in the system under the condition of parameter mismatch, and the second internal and external disturbance parameter of the system characterizes the statorqAnd processing the internal and external disturbance parameters of the first system, the internal and external disturbance parameters of the second system and the preset parameters through a preset optimization model under the condition that the shaft contains parameter mismatch, obtaining an optimal voltage vector at the current sampling moment, and controlling the controlled object according to the optimal voltage vector at the current sampling moment.
Description
Technical Field
The present disclosure relates to the field of motor control technologies, and in particular, to a motor control method, a system, a storage medium, and an electronic device.
Background
Permanent magnet synchronous motors (Permanent Magnet Synchronous Machine, PMSM) are widely used in industry, agriculture, aerospace, household appliances, etc. because of their simple structure, reliable operation, simple maintenance, etc.
The control of the current loop of the existing PMSM mainly adopts Proportional Integral (PI) control, and the current loop needs to carry out parameter setting aiming at specific working conditions, so that the current loop cannot meet the situation with high requirements on dynamic performance and steady-state performance. The model predictive control has the advantages of fast dynamic response, high control precision, no need of additional parameter setting and the like, and is increasingly applied to the control of the PMSM.
However, the existing conventional model predictive control has large dependency on parameters of a controlled object, needs to solve quadratic programming on line, and has large calculation force requirement on a controller, so that real-time deployment on embedded equipment is difficult.
Therefore, how to reduce the dependency on the controlled object parameters and reduce the calculation force requirement so as to facilitate the real-time deployment of the control strategy of the PMSM on the embedded device is a problem to be solved in the application.
Disclosure of Invention
In view of this, the application discloses a motor control method, a system, a storage medium and an electronic device, compared with the conventional model predictive control algorithm, the control strategy of the PMSM in the scheme is based on time-varying inductance to improve the mathematical model of the stator current of the permanent magnet synchronous motor, so that the actual behavior of the PMSM is simulated more truly, the dependence of the algorithm on the parameters of a controlled object is effectively reduced by estimating internal and external disturbance of the system including model parameter mismatch according to the thought of time delay control, and the scheme does not need to solve the quadratic programming on line, and only needs to solve the optimal voltage vector by combining with a dead beat preset optimization model, thereby reducing the calculation force requirement of the scheme and being more beneficial to real-time deployment on embedded equipment.
In order to achieve the above purpose, the technical scheme disclosed by the method is as follows:
the first aspect of the application discloses a motor control method, which comprises the following steps:
obtaining parameters to be processed; the parameters to be processed are parameters which are not processed by a preset time delay estimation model;
carrying out disturbance estimation on the parameters to be processed and the parameters meeting preset selection conditions through a preset time delay estimation model to obtain internal and external disturbance parameters of a first system and internal and external disturbance parameters of a second system; the internal and external disturbance parameters of the first system represent the statordThe shaft contains internal and external disturbances in the system in the case of parameter mismatch; the internal and external disturbance parameters of the second system represent the statorqThe shaft contains internal and external disturbances in the system in the case of parameter mismatch;
processing the internal and external disturbance parameters of the first system, the internal and external disturbance parameters of the second system and preset parameters through a preset optimization model to obtain an optimal voltage vector at the current sampling moment; the preset optimization model is obtained by constructing a dead beat control algorithm and a discretized preset time delay estimation model;
and controlling the controlled object according to the optimal voltage vector at the current sampling moment.
Preferably, the parameters to be processed at least comprise a statordShaft current and statorqShaft current and stator resistance.
Preferably, the performing disturbance estimation on the parameter to be processed and the parameter meeting the preset selection condition through the preset time delay estimation model to obtain a first system internal and external disturbance parameter and a second system internal and external disturbance parameter includes:
stator for determining to meet preset selection conditionsdStator with shaft approximate inductance value and meeting preset selection conditionsqThe axis approximates the inductance value; the preset selection condition is used for improving the estimation effect of the preset time delay estimation model;
through a preset time delay estimation model, the parameters to be processed and the stator meeting preset selection conditions are subjected todShaft approximate inductance value and stator meeting preset selection conditionsqAnd carrying out disturbance estimation on the shaft approximate inductance value to obtain the internal and external disturbance parameters of the first system and the internal and external disturbance parameters of the second system.
Preferably, the processing, by a preset optimization model, the internal and external disturbance parameters of the first system, the internal and external disturbance parameters of the second system, and the preset parameters to obtain an optimal voltage vector at the current sampling moment includes:
discretizing the preset time delay estimation model;
constructing a preset optimization model through a discretization processing preset time delay estimation model and a dead beat control algorithm;
acquisition statordShaft reference current value and statorqAn axis reference current value;
stator at current sampling time through the preset optimization modeldShaft current value and current sampling time statorqShaft electricityFlow value, stator resistance, statordShaft approximation inductance value, statorqShaft approximation inductance value, statordShaft reference current value, the statorqProcessing the shaft reference current value, the first system internal and external disturbance parameters and the second system internal and external disturbance parameters to obtain a stator at the current sampling momentdShaft optimal voltage value and current sampling time statorqAxis optimum voltage value.
Preferably, the controlling the controlled object according to the optimal voltage vector at the current sampling time includes:
stator according to current sampling timedShaft optimal voltage value and current sampling time statorqAnd controlling the rotating speed and the torque of the controlled object by the shaft optimal voltage value.
A second aspect of the present application discloses a motor control system, the system comprising:
the acquisition unit is used for acquiring parameters to be processed; the parameters to be processed are parameters which are not processed by a preset time delay estimation model;
the estimation unit is used for carrying out disturbance estimation on the parameters to be processed and the parameters meeting preset selection conditions through a preset time delay estimation model to obtain first system internal and external disturbance parameters and second system internal and external disturbance parameters; the internal and external disturbance parameters of the first system represent the statordThe shaft contains internal and external disturbances in the system in the case of parameter mismatch; the internal and external disturbance parameters of the second system represent the statorqThe shaft contains internal and external disturbances in the system in the case of parameter mismatch;
the processing unit is used for processing the internal and external disturbance parameters of the first system, the internal and external disturbance parameters of the second system and preset parameters through a preset optimization model to obtain an optimal voltage vector at the current sampling moment; the preset optimization model is obtained by constructing a dead beat control algorithm and a discretized preset time delay estimation model;
and the control unit is used for controlling the controlled object according to the optimal voltage vector at the current sampling moment.
Preferably, the method comprises the steps of,the parameters to be processed at least comprise a statordShaft current and statorqShaft current and stator resistance.
Preferably, the estimation unit includes:
a determining module for determining the stator meeting the preset selection conditiondStator with shaft approximate inductance value and meeting preset selection conditionsqThe axis approximates the inductance value; the preset selection condition is used for improving the estimation effect of the preset time delay estimation model;
the estimation module is used for estimating the parameters to be processed and the stator meeting the preset selection conditions through a preset time delay estimation modeldShaft approximate inductance value and stator meeting preset selection conditionsqAnd carrying out disturbance estimation on the shaft approximate inductance value to obtain the internal and external disturbance parameters of the first system and the internal and external disturbance parameters of the second system.
A third aspect of the present application discloses a storage medium comprising stored instructions, wherein the instructions, when executed, control a device in which the storage medium is located to perform the motor control method according to any one of the first aspects.
A fourth aspect of the present application discloses an electronic device comprising a memory, and one or more instructions, wherein the one or more instructions are stored in the memory and configured to be executed by one or more processors to perform the motor control method according to any one of the first aspects.
As can be seen from the above technical solutions, the present application discloses a motor control method, a system, a storage medium, and an electronic device, where parameters to be processed are obtained, where the parameters to be processed are parameters that are not processed by a preset time delay estimation model, and disturbance estimation is performed on the parameters to be processed and parameters meeting preset selection conditions by the preset time delay estimation model to obtain internal and external disturbance parameters of a first system and internal and external disturbance parameters of a second system, where the internal and external disturbance parameters of the first system represent a statordThe shaft contains internal and external disturbance in the system under the condition of parameter mismatch, and the second internal and external disturbance parameter of the system characterizes the statorqSystem internal and external in case of shaft containing parameter mismatchThe disturbance, through presetting the optimization model, the internal and external disturbance parameter of the first system, the internal and external disturbance parameter of the second system and the preset parameter are processed, the current sampling moment optimal voltage vector is obtained, the preset optimization model is obtained through construction of a dead beat control algorithm and a discretization processing preset time delay estimation model, and the controlled object is controlled according to the current sampling moment optimal voltage vector. Compared with the conventional model predictive control algorithm, the control strategy of the PMSM is based on the time-varying inductance, improves the mathematical model of the stator current of the permanent magnet synchronous motor, simulates the actual behavior of the PMSM more truly, estimates internal and external disturbance of the system including model parameter mismatch according to the idea of time delay control, effectively reduces the dependence of the algorithm on controlled object parameters, does not need to solve the quadratic programming on line, and only needs to solve the optimal voltage vector by combining with a dead beat preset optimization model, thereby ensuring small calculation force requirement of the PMSM and being more beneficial to real-time deployment on embedded equipment.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings may be obtained according to the provided drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic flow chart of a motor control method disclosed in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a motor control system according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
In this application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As known from the background art, the existing conventional model predictive control has large dependency on the parameters of the controlled object, and needs to solve the quadratic programming on line, so that the calculation force is required to be large, and the real-time deployment is not easy to carry out on the embedded equipment. Therefore, how to reduce the dependency of the controlled object parameters and reduce the calculation force requirement, so as to facilitate the real-time deployment of the control strategy of the PMSM on the embedded device is a problem to be solved in the application.
In order to solve the above problems, embodiments of the present application disclose a method, a system, a storage medium, and an electronic device for controlling a motor, where a parameter to be processed is obtained, where the parameter to be processed is a parameter that is not processed by a preset time delay estimation model, and disturbance estimation is performed on the parameter to be processed and a parameter that meets a preset selection condition by the preset time delay estimation model to obtain a first system internal and external disturbance parameter and a second system internal and external disturbance parameter, where the first system internal and external disturbance parameter characterizes a statordThe shaft contains internal and external disturbance in the system under the condition of parameter mismatch, and the second internal and external disturbance parameter of the system characterizes the statorqThe system internal and external disturbance under the condition that the shaft contains parameter mismatch is processed by a preset optimization model to obtain an optimal voltage vector at the current sampling moment, wherein the first system internal and external disturbance parameter, the second system internal and external disturbance parameter and the preset parameter are processed by the preset optimization modelThe set optimization model is obtained by constructing a dead beat control algorithm and a discretization processing preset time delay estimation model, and the controlled object is controlled according to the optimal voltage vector at the current sampling moment. Compared with the conventional model predictive control algorithm, the control strategy of the PMSM is based on the time-varying inductance, improves the mathematical model of the stator current of the permanent magnet synchronous motor, simulates the actual behavior of the PMSM more truly, estimates internal and external disturbance of the system including model parameter mismatch according to the idea of time delay control, effectively reduces the dependence of the algorithm on controlled object parameters, does not need to solve the quadratic programming on line, and only needs to solve the optimal voltage vector by combining with a dead beat preset optimization model, thereby ensuring small calculation force requirement of the PMSM and being more beneficial to real-time deployment on embedded equipment. Specific implementations are illustrated by the following examples.
Referring to fig. 1, a flow chart of a motor control method disclosed in an embodiment of the present application is shown, where the motor control method mainly includes the following steps:
s101: obtaining parameters to be processed; the parameters to be processed are parameters which are not processed by the preset time delay estimation model.
The parameters to be processed at least comprise a statordShaft current and statorqShaft current and stator resistance, etc.
S102: carrying out disturbance estimation on the parameters to be processed and the parameters meeting preset selection conditions through a preset time delay estimation model to obtain internal and external disturbance parameters of the first system and internal and external disturbance parameters of the second system; first system internal and external disturbance parameter characterization statordThe shaft contains internal and external disturbances in the system in the case of parameter mismatch; characterization stator for internal and external disturbance parameters of second systemqThe axis contains internal and external disturbances within the system in the case of parameter mismatch.
The preset time delay estimation model is an improved interior permanent magnet synchronous motor (IPSM) mathematical model.
The specific process of obtaining the preset time delay estimation model is as follows:
in general, a mathematical model of the stator voltage of a permanent magnet synchronous motor with internal and external disturbances is shown in formula (1):
wherein, the liquid crystal display device comprises a liquid crystal display device,u d is a statordAn axis voltage;u q is a statorqAn axis voltage;i d is a statordShaft current;i q is a statorqShaft current;R s is a stator resistor;
is the angular velocity of the rotor flux linkage; />
Is a statordA shaft flux linkage; />
Is a statorqThe axis flux linkage.
wherein, the liquid crystal display device comprises a liquid crystal display device,
is a permanent magnet flux linkage, and is generally constant;L d is a statordInductance of the shaft (true inductance value);L q is a statorqThe inductance of the shaft (true inductance value).
Taking into account the statordShaft inductanceL d And statorqShaft inductanceL q Will be along with the system currenti d ，i q ) Is changed by the change of (1) and the system current is changed by [ ]i d ，i q ) And is a time-varying parameter, thus statordShaft inductanceL d And statorqShaft inductanceL q And also a parameter variable that varies over time.
Bringing equation (2) into equation (1) yields equation (3):
wherein, the liquid crystal display device comprises a liquid crystal display device,
representing a statordDerivative of shaft current with respect to time; />
Representing a statorqDerivative of shaft current with respect to time; />
Is a statordDerivative of shaft inductance with respect to time; />
Is a statorqThe derivative of the axis inductance with respect to time.
Formula (3) is modified by addition and subtraction respectively
Obtaining the formula (4):
wherein, the liquid crystal display device comprises a liquid crystal display device,L d0 is a statordThe axis approximates the inductance value;L q0 is a statorqThe axis approximates the inductance value;f d for the first system internal-external disturbance parameter, i.e. statordThe shaft contains internal and external disturbances in the system in the case of parameter mismatch;f q is the internal and external disturbance parameter of the second system, namely the statorqThe axis contains internal and external disturbances within the system in the case of parameter mismatch.
Estimating the equation (4) by the idea of time delay control (Time Delay Control)f d Andf q wherein when the time interval
Is small enough (e.g., in this case +.>
Taken as 100 microseconds), the time delay control assumes that the moment +.>
Internal and external disturbances in the system and->
The internal and external disturbances in the system at the moment are equal. The PMSM current loop control generally needs to satisfy a switching frequency of 10kHz, and the switching frequency of 10kHz corresponds to a control period of 100 microseconds, and it is generally considered that disturbances inside and outside the system do not change during the control period of 100 microseconds. Based on the above assumption, equation (5) can be obtained:
wherein, the liquid crystal display device comprises a liquid crystal display device,
for motor operation timetAn estimated value of a first system internal-external disturbance parameter; />
For the motor operating time->
An estimated value of a second system internal and external disturbance parameter;Lis the interval time;f d （t-L) Is thatt-LInternal and external disturbance parameters of the first system at the moment;f q （t-L) Is thatt-LInternal and external disturbance parameters of the second system at the moment;i d （t-L) Is thatt-LTime statordShaft current; />
Is thatt-LTime statordDerivative of shaft current with respect to time;u d （t-L) Is thatt-LTime statordAn axis voltage;u q （t-L) Is thatt-LTime statorqAn axis voltage;i q （t-L) Is thatt-LTime statorqShaft current; />
Is thatt-LTime statorqThe derivative of shaft current with respect to time.
To improve the estimation effect, the values in equation (4) and equation (5)L d0 AndL q0 the specific preset selection condition is shown in formula (6):
wherein, the liquid crystal display device comprises a liquid crystal display device,L d andL q respectively stators (stators)dShaft and method for producing the sameqThe true inductance value of the shaft;Bto chooseL d0 AndL q0 a matrix of conditions;B 1 to chooseL d AndL q a matrix of conditions;Iis an identity matrix. The parameters meeting the preset selection conditions are the stator meeting the conditions of the formula (6)dShaft-approximation inductance and stator conforming to the condition of equation (6)qThe axis approximates the inductance value.
And (3) the formula (4) after the condition of the formula (6) is satisfied and the formula (5) after the condition of the formula (6) is satisfied are the preset time delay estimation model.
And specifically, carrying out disturbance estimation on the parameters to be processed and a preset approximate inductance value obtained in advance through a preset time delay estimation model, and obtaining the internal and external disturbance parameters of the first system and the internal and external disturbance parameters of the second system, wherein the processes are shown as A1-A2.
A1: stator for determining to meet preset selection conditionsdStator with shaft approximate inductance value and meeting preset selection conditionsqThe axis approximates the inductance value; the preset selection condition is used for improving the estimation effect of the preset time delay estimation model.
Wherein, the stator meeting the selection condition of the formula (6) is determineddStator with approximate inductance value and meeting selection condition of formula (6)qThe axis approximates the inductance value.
A2: stator with parameters to be processed and meeting preset selection conditions through preset time delay estimation modeldStator with shaft approximate inductance value and meeting preset selection conditionsqAnd carrying out disturbance estimation on the shaft approximate inductance value to obtain the internal and external disturbance parameters of the first system and the internal and external disturbance parameters of the second system.
S103: processing the internal and external disturbance parameters of the first system, the internal and external disturbance parameters of the second system and the preset parameters through a preset optimization model to obtain an optimal voltage vector at the current sampling moment; the preset optimization model is obtained by constructing a dead-beat control algorithm and a discretized preset time delay estimation model.
The process of obtaining the optimal voltage vector at the current sampling moment is shown as B1-B4.
B1: and discretizing the preset time delay estimation model.
B2: and constructing a preset optimization model through a discretization processing preset time delay estimation model and a dead beat control algorithm.
Wherein, discretizing the formula (4) meeting the preset selection condition and the formula (5) meeting the preset selection condition, and combining a dead beat control algorithm (dead beat idea) to obtain a formula (7):
wherein, the liquid crystal display device comprises a liquid crystal display device,i d ref is a statordAn axis reference current value;i d （k) Stator for current sampling timedShaft current;R s is a stator resistor;f d （k) The internal and external disturbance parameters of the first system at the current sampling moment are obtained;i q ref is a statorqAn axis reference current;i q （k) Stator for current sampling timeqShaft current;f q （k) The internal and external disturbance parameters of the second system at the current sampling moment;u d （k) Stator for current sampling timedAn axis voltage;u q （k) Stator for current sampling timeqVoltage of the shaft;T s is the sampling period.
The preset optimization model can be obtained by combining the formula (5) and the formula (7), the specific preset optimization model is shown as the formula (8), and the optimal voltage vector at the current sampling moment is obtained through the preset optimization model:
wherein, the liquid crystal display device comprises a liquid crystal display device,i d （k-1) stator for previous sampling instantdShaft current;
for the previous sampling instant statordAn axis voltage; />
For the previous sampling instant statorqShaft current; />
For the previous sampling instant statorqShaft voltage.
Wherein the preset parameters at least comprisei d （k）、i q （k）、R s 、i d ref 、i q ref 、u d （k）、u q （k）、T s 、i d （k-1）、
、/>
、/>
Etc.
B3: acquisition statordShaft reference current value and statorqThe axis references the current value.
B4: stator at current sampling time through preset optimization modeldShaft current value and current sampling time statorqShaft current value, stator resistance, statordShaft-approximate inductance value and statorqShaft-approximate inductance value and statordShaft reference current value and statorqProcessing the shaft reference current value, the first system internal and external disturbance parameters and the second system internal and external disturbance parameters to obtain a stator at the current sampling momentdShaft optimal voltage value and current sampling time statorqAxis optimum voltage value.
S104: and controlling the controlled object according to the optimal voltage vector at the current sampling moment.
In S104, the stator is set according to the current sampling timedShaft optimal voltage value and current sampling time statorqAnd controlling the rotating speed and the torque of the controlled object by the shaft optimal voltage value.
The controlled object may be a permanent magnet synchronous motor, or may be other types of motors, and the determination of the specific controlled object is not specifically limited in this application.
The scheme provides a mathematical model of the permanent magnet synchronous motor with the time-varying inductance, and the behavior of the permanent magnet synchronous motor is simulated more truly. And the estimation of internal and external disturbance of the system including the mismatch of the model parameters is carried out according to the thought of time delay control, so that the dependence of the algorithm on the parameters of the empty object is reduced. Compared with a conventional model predictive control algorithm, the scheme has small parameter dependence on a controlled object and small calculation force requirement, and is easier to deploy on embedded equipment in real time.
In the embodiment of the application, compared with a conventional model predictive control algorithm, the control strategy of the PMSM is based on a mathematical model of the stator current of the permanent magnet synchronous motor, the actual behavior of the PMSM is simulated more truly, the internal and external disturbance estimation of the system including the mismatch of model parameters is carried out according to the idea of time delay control, the dependence of the algorithm on the parameters of a controlled object is effectively reduced, the scheme does not need to solve the quadratic programming on line, and only needs to solve the optimal voltage vector by combining a dead beat preset optimization model, so that the calculation force requirement of the scheme is small, and the real-time deployment of the motor on embedded equipment is facilitated.
Based on the motor control method disclosed in fig. 1 of the foregoing embodiment, the embodiment of the present application also correspondingly discloses a motor control system, as shown in fig. 2, where the motor control system includes an obtaining unit 201, an estimating unit 202, a processing unit 203, and a control unit 204.
An acquiring unit 201, configured to acquire a parameter to be processed; the parameters to be processed are parameters which are not processed by the preset time delay estimation model.
The estimation unit 202 is configured to perform disturbance estimation on the parameter to be processed and the parameter meeting the preset selection condition through a preset time delay estimation model, so as to obtain a first system internal and external disturbance parameter and a second system internal and external disturbance parameter; first system internal and external disturbance parameter characterization statordThe shaft contains internal and external disturbances in the system in the case of parameter mismatch; characterization stator for internal and external disturbance parameters of second systemqThe axis contains internal and external disturbances within the system in the case of parameter mismatch.
The processing unit 203 is configured to process the internal and external disturbance parameters of the first system, the internal and external disturbance parameters of the second system, and the preset parameters through a preset optimization model, so as to obtain an optimal voltage vector at the current sampling moment; the preset optimization model is obtained by constructing a dead-beat control algorithm and a discretized preset time delay estimation model.
And the control unit 204 is used for controlling the controlled object according to the optimal voltage vector at the current sampling moment.
Further, the parameters to be processed at least comprise a statordShaft current and statorqShaft current and stator resistance.
Further, the estimation unit 202 includes a determination module and an estimation module.
A determining module for determining the stator meeting the preset selection conditiondStator with shaft approximate inductance value and meeting preset selection conditionsqThe axis approximates the inductance value; the preset selection condition is used for improving the estimation effect of the preset time delay estimation model.
The estimation module is used for estimating the stator which is to be processed parameters and accords with preset selection conditions through a preset time delay estimation modeldStator with shaft approximate inductance value and meeting preset selection conditionsqAnd carrying out disturbance estimation on the shaft approximate inductance value to obtain the internal and external disturbance parameters of the first system and the internal and external disturbance parameters of the second system.
Further, the processing unit 203 includes a discretization processing module, a construction module, an acquisition module, and a processing module.
The discretization processing module is used for discretizing the preset time delay estimation model.
The construction module is used for constructing a preset optimization model through a discretization processing preset time delay estimation model and a dead beat control algorithm.
An acquisition module for acquiring the statordShaft reference current value and statorqThe axis references the current value.
The processing module is used for determining the current sampling time stator through a preset optimization modeldShaft current value and current sampling time statorqShaft current value, stator resistance, statordShaft-approximate inductance value and statorqShaft-approximate inductance value and statordShaft reference current value and statorqShaft reference current value, first system internal-external disturbance parameter and second system internal-external disturbance parameterProcessing the number to obtain the stator at the current sampling timedShaft optimal voltage value and current sampling time statorqAxis optimum voltage value.
Further, the control unit 204 is specifically configured to perform the stator according to the current sampling timedShaft optimal voltage value and current sampling time statorqAnd controlling the rotating speed and the torque of the controlled object by the shaft optimal voltage value.
In the embodiment of the application, compared with a conventional model predictive control algorithm, the control strategy of the PMSM is based on a mathematical model of the stator current of the permanent magnet synchronous motor, the actual behavior of the PMSM is simulated more truly, the internal and external disturbance estimation of the system including the mismatch of model parameters is carried out according to the idea of time delay control, the dependence of the algorithm on the parameters of a controlled object is reduced, the scheme does not need to effectively solve the quadratic programming, and only needs to solve the optimal voltage vector by combining a dead beat preset optimization model, so that the calculation force requirement of the scheme is small, and the real-time deployment on embedded equipment is facilitated.
The embodiment of the application also provides a storage medium, which comprises stored instructions, wherein the equipment where the storage medium is controlled to execute the motor control method when the instructions run.
The embodiment of the present application further provides an electronic device, a schematic structural diagram of which is shown in fig. 3, specifically including a memory 301, and one or more instructions 302, where the one or more instructions 302 are stored in the memory 301, and configured to be executed by the one or more processors 303 to execute the one or more instructions 302 to perform the above motor control method.
The specific implementation and derivative manner of each embodiment are all within the protection scope of the application.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for a system or system embodiment, since it is substantially similar to a method embodiment, the description is relatively simple, with reference to the description of the method embodiment being made in part. The system and system embodiments described above are merely illustrative, in which the elements described as clustered elements may or may not be physically separate, and elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application and are intended to be comprehended within the scope of the present application.
Claims (10)
1. A method of controlling an electric motor, the method comprising:
obtaining parameters to be processed; the parameters to be processed are parameters which are not processed by a preset time delay estimation model;
carrying out disturbance estimation on the parameters to be processed and the parameters meeting preset selection conditions through a preset time delay estimation model to obtain internal and external disturbance parameters of a first system and internal and external disturbance parameters of a second system; the internal and external disturbance parameters of the first system represent the statordThe shaft contains internal and external disturbances in the system in the case of parameter mismatch; the internal and external disturbance parameters of the second system represent the statorqThe shaft contains internal and external disturbances in the system in the case of parameter mismatch;
processing the internal and external disturbance parameters of the first system, the internal and external disturbance parameters of the second system and preset parameters through a preset optimization model to obtain an optimal voltage vector at the current sampling moment; the preset optimization model is obtained by constructing a dead beat control algorithm and a discretized preset time delay estimation model;
and controlling the controlled object according to the optimal voltage vector at the current sampling moment.
2. The method according to claim 1, wherein the parameters to be processed comprise at least a statordShaft current and statorqShaft current and stator resistance.
3. The method according to claim 2, wherein the performing, by using a preset time delay estimation model, disturbance estimation on the parameter to be processed and the parameter meeting a preset selection condition to obtain a first system internal and external disturbance parameter and a second system internal and external disturbance parameter includes:
stator for determining to meet preset selection conditionsdStator with shaft approximate inductance value and meeting preset selection conditionsqThe axis approximates the inductance value; the preset selection condition is used for improving the preset time delayEstimating an estimation effect of the model;
through a preset time delay estimation model, the parameters to be processed and the stator meeting preset selection conditions are subjected todShaft approximate inductance value and stator meeting preset selection conditionsqAnd carrying out disturbance estimation on the shaft approximate inductance value to obtain the internal and external disturbance parameters of the first system and the internal and external disturbance parameters of the second system.
4. The method of claim 3, wherein the processing, by a preset optimization model, the first system internal and external disturbance parameter, the second system internal and external disturbance parameter, and the preset parameter to obtain the optimal voltage vector at the current sampling time includes:
discretizing the preset time delay estimation model;
constructing a preset optimization model through a discretization processing preset time delay estimation model and a dead beat control algorithm;
acquisition statordShaft reference current value and statorqAn axis reference current value;
stator at current sampling time through the preset optimization modeldShaft current value and current sampling time statorqShaft current value, stator resistance, statordShaft approximation inductance value, statorqShaft approximation inductance value, statordShaft reference current value, the statorqProcessing the shaft reference current value, the first system internal and external disturbance parameters and the second system internal and external disturbance parameters to obtain a stator at the current sampling momentdShaft optimal voltage value and current sampling time statorqAxis optimum voltage value.
5. The method of claim 4, wherein controlling the controlled object according to the current sampling instant optimal voltage vector comprises:
stator according to current sampling timedShaft optimal voltage value and current sampling time statorqAnd controlling the rotating speed and the torque of the controlled object by the shaft optimal voltage value.
6. A motor control system, the system comprising:
the acquisition unit is used for acquiring parameters to be processed; the parameters to be processed are parameters which are not processed by a preset time delay estimation model;
the estimation unit is used for carrying out disturbance estimation on the parameters to be processed and the parameters meeting preset selection conditions through a preset time delay estimation model to obtain first system internal and external disturbance parameters and second system internal and external disturbance parameters; the internal and external disturbance parameters of the first system represent the statordThe shaft contains internal and external disturbances in the system in the case of parameter mismatch; the internal and external disturbance parameters of the second system represent the statorqThe shaft contains internal and external disturbances in the system in the case of parameter mismatch;
the processing unit is used for processing the internal and external disturbance parameters of the first system, the internal and external disturbance parameters of the second system and preset parameters through a preset optimization model to obtain an optimal voltage vector at the current sampling moment; the preset optimization model is obtained by constructing a dead beat control algorithm and a discretized preset time delay estimation model;
and the control unit is used for controlling the controlled object according to the optimal voltage vector at the current sampling moment.
7. The system of claim 6, wherein the parameters to be processed include at least a statordShaft current and statorqShaft current and stator resistance.
8. The system according to claim 7, wherein the estimation unit comprises:
a determining module for determining the stator meeting the preset selection conditiondStator with shaft approximate inductance value and meeting preset selection conditionsqThe axis approximates the inductance value; the preset selection condition is used for improving the estimation effect of the preset time delay estimation model;
an estimation module for delaying by a preset timeA delay estimation model for the stator meeting the preset selection conditions and the parameters to be processeddShaft approximate inductance value and stator meeting preset selection conditionsqAnd carrying out disturbance estimation on the shaft approximate inductance value to obtain the internal and external disturbance parameters of the first system and the internal and external disturbance parameters of the second system.
9. A storage medium comprising stored instructions, wherein the instructions, when executed, control a device in which the storage medium is located to perform the motor control method of any one of claims 1 to 5.
10. An electronic device comprising a memory and one or more instructions, wherein the one or more instructions are stored in the memory and configured to be executed by the one or more processors to perform the motor control method of any of claims 1-5.
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| CN112422004A (en) * | 2020-11-09 | 2021-02-26 | 北京理工大学 | Disturbance suppression method for permanent magnet synchronous motor in weak magnetic control mode |
| CN113054878A (en) * | 2021-03-29 | 2021-06-29 | 东南大学 | Arc motor prediction control method based on improved disturbance observer |
| CN115242151A (en) * | 2022-07-07 | 2022-10-25 | 同济大学 | Synchronous motor parameter-free prediction control method based on rolling time domain estimation |
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| CN112422004A (en) * | 2020-11-09 | 2021-02-26 | 北京理工大学 | Disturbance suppression method for permanent magnet synchronous motor in weak magnetic control mode |
| CN113054878A (en) * | 2021-03-29 | 2021-06-29 | 东南大学 | Arc motor prediction control method based on improved disturbance observer |
| CN115242151A (en) * | 2022-07-07 | 2022-10-25 | 同济大学 | Synchronous motor parameter-free prediction control method based on rolling time domain estimation |
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