CN117318551A - Intelligent control device of permanent magnet synchronous motor - Google Patents

Intelligent control device of permanent magnet synchronous motor Download PDF

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Publication number
CN117318551A
CN117318551A CN202311252673.1A CN202311252673A CN117318551A CN 117318551 A CN117318551 A CN 117318551A CN 202311252673 A CN202311252673 A CN 202311252673A CN 117318551 A CN117318551 A CN 117318551A
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permanent magnet
magnet synchronous
synchronous motor
current
control device
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请求不公布姓名
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Chengdu Aich Technology Co Ltd
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Chengdu Aich Technology Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • 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

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

Abstract

The invention discloses an intelligent control device for a permanent magnet synchronous motor, relates to the technical field of motor control, and aims to solve the problem that the conventional permanent magnet synchronous motor control device is low in filtering efficiency. An intelligent control device for a permanent magnet synchronous motor comprises: a permanent magnet synchronous motor and an intelligent controller; the intelligent controller and the permanent magnet synchronous motor are arranged in the intelligent control device of the permanent magnet synchronous motor; the intelligent controller is in communication connection with the permanent magnet synchronous motor; the intelligent controller is used for controlling the permanent magnet synchronous motor; an adaptive current filter is arranged in the intelligent controller; the self-adaptive current filter adopts an improved LMS algorithm to carry out filtering treatment on the current of the permanent magnet synchronous motor; the modified LMS algorithm is added with a correction parameter; the correction parameters are used for dynamically adjusting the weight of the weight updating function in the improved LMS algorithm. The invention is used for improving the filtering efficiency of the permanent magnet synchronous motor control device.

Description

Intelligent control device of permanent magnet synchronous motor
Technical Field
The invention relates to the technical field of motor control, in particular to an intelligent control device for a permanent magnet synchronous motor.
Background
With the development of national economy and scientific technology, the motor plays an increasingly important role in various industries. The design, manufacture and control of the permanent magnet synchronous motor have a plurality of advantages compared with other motors, and are widely applied to various industrial production.
The permanent magnet synchronous motor is controlled by adopting a vector control method, stator current needs to be collected, and in order to avoid interference, current needs to be filtered generally, but the convergence speed of filtering in the existing filtering is slower, so that the efficiency of the filtering is lower.
Therefore, the intelligent control device of the permanent magnet synchronous motor with higher filtering efficiency has important significance.
Disclosure of Invention
The invention aims to provide an intelligent control device for a permanent magnet synchronous motor, which is used for solving the problem of low filtering efficiency of the existing permanent magnet synchronous motor control device.
In order to achieve the above object, the present invention provides the following technical solutions:
an intelligent control device for a permanent magnet synchronous motor, comprising:
a permanent magnet synchronous motor and an intelligent controller; the intelligent controller and the permanent magnet synchronous motor are arranged in the intelligent control device of the permanent magnet synchronous motor; the intelligent controller is in communication connection with the permanent magnet synchronous motor; the intelligent controller is used for controlling the permanent magnet synchronous motor;
an adaptive current filter is arranged in the intelligent controller; the self-adaptive current filter adopts an improved LMS algorithm to carry out filtering treatment on the current of the permanent magnet synchronous motor; the modified LMS algorithm is added with a correction parameter; and the correction parameters are used for dynamically adjusting the weight of the weight updating function in the improved LMS algorithm.
Compared with the prior art, the intelligent control device for the permanent magnet synchronous motor provided by the invention comprises the permanent magnet synchronous motor and an intelligent controller; the intelligent controller and the permanent magnet synchronous motor are arranged in the intelligent control device of the permanent magnet synchronous motor; the intelligent controller is in communication connection with the permanent magnet synchronous motor; the intelligent controller is used for controlling the permanent magnet synchronous motor; an adaptive current filter is arranged in the intelligent controller; the self-adaptive current filter adopts an improved LMS algorithm to carry out filtering treatment on the current of the permanent magnet synchronous motor; the modified LMS algorithm is added with a correction parameter; and the correction parameters are used for dynamically adjusting the weight of the weight updating function in the improved LMS algorithm. Compared with the LMS algorithm in the prior art, the invention adds the correction parameter, and the weight of the weight updating function in the improved LMS algorithm is dynamically adjusted to make the rate of the weight tending to be stable become faster, namely the convergence speed of the improved LMS algorithm is accelerated, and the filtering efficiency of the permanent magnet synchronous motor control device is further improved.
Optionally, the correction parameter is:
c (n) represents a correction parameter, h (n) represents a weight, ρ and δ represent correction parameters, exp represents an exponential operation;
and the relation between the correction parameter and the weight is linear positive correlation.
Optionally, the weight updating function is:
h(n+1)＝h(n)+2μx(n)e(n)-c(n)
h (n+1) represents the updated weight, x (n) represents the nth input signal of the adaptive current filter, e (n) represents the error value, and μ represents the step size factor;
the correction parameter is a subtraction formula of the weight updating function.
Optionally, the improved LMS algorithm is:
y (n) represents the nth output signal of x (n) after being filtered by the adaptive current filter, e (n) represents an error value, and d (n) represents a desired output;
the self-adaptive current filter samples each new input to obtain x (n) and d (n) corresponding to the x (n), and y (n) and e (n) are calculated through the improved LMS algorithm; and calculating the weight through the weight updating function based on the obtained y (n) and e (n), so that the numerical value of the updated weight tends to be stable.
Optionally, the intelligent control device of the permanent magnet synchronous motor further comprises: a controller chip and a motor vector closed-loop controller; the controller chip is in communication connection with the motor vector closed-loop controller; the self-adaptive current filter is in communication connection with the motor vector closed-loop controller; the controller chip is used for calculating the axial current of the permanent magnet synchronous motor; the adaptive current filter performs the filtering process on the axial current using an improved LMS algorithm.
Optionally, the adaptive current filter performs the filtering processing on the axial current by using an improved LMS algorithm, including:
the axial current comprises d-axis current and q-axis current, and the treatment process of the d-axis current and the q-axis current is the same;
the self-adaptive current filter adopts an improved LMS algorithm to carry out the filtering treatment on d-axis current as follows:
i dx (n) represents d-axis current of an nth output of the motor vector closed loop controller; i.e dd (n) represents a d-axis desired current value by applying a voltage to i dx (n) low pass filtering; i.e dy (n) represents the d-axis current after the adaptive current filter processing;
the self-adaptive current filter adopts an improved LMS algorithm to carry out the filtering treatment on the q-axis current as follows:
i qx (n) represents the q-axis current of the nth output of the motor vector closed loop controller; i.e qd (n) represents the q-axis expected current value by applying the current to i qx (n) low pass filtering; i.e qy (n) represents the adaptive current filter processingThe q-axis current after that.
Optionally, the processed d-axis current and the processed q-axis current are input into the vector closed-loop controller again, and d-axis voltage and q-axis voltage are calculated through the controller chip;
based on the d-axis voltage and the q-axis voltage, the vector closed-loop controller performs space vector pulse width modulation to obtain the stator voltage of the permanent magnet synchronous motor.
Optionally, the intelligent control device of the permanent magnet synchronous motor further comprises: a control circuit and a display; the input end of the control circuit is in communication connection with the output end of the intelligent controller, and the control circuit is used for receiving and transmitting control instructions of the intelligent controller; the output end of the control circuit is in communication connection with the input end of the permanent magnet synchronous motor, and the control circuit is used for controlling the permanent magnet synchronous motor to rotate; the display is arranged in the intelligent control device of the permanent magnet synchronous motor; the input end of the display is respectively in communication connection with the output end of the intelligent controller, the output end of the control circuit and the output end of the sensor.
Optionally, the display includes a display screen and a display chip; the input end of the display chip is respectively in communication connection with the output end of the intelligent controller, the output end of the control circuit and the output end of the sensor; and the output end of the display chip is in communication connection with the display screen.
Optionally, the intelligent control device of the permanent magnet synchronous motor further comprises: a sensor; the sensor comprises a current sensor and an angle sensor; the sensor is arranged in the intelligent control device of the permanent magnet synchronous motor; the input end of the sensor is in communication connection with the permanent magnet synchronous motor, and the sensor is used for collecting the current of the permanent magnet synchronous motor; and the output end of the sensor is in communication connection with the input end of the intelligent controller.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
fig. 1 is a schematic structural diagram of an intelligent control device for a permanent magnet synchronous motor provided by the invention;
fig. 2 is a schematic structural diagram of an intelligent controller provided by the invention.
Reference numerals: the intelligent controller comprises a 1-intelligent controller, an 11-adaptive current filter, a 12-vector closed-loop controller, a 2-permanent magnet synchronous motor, a 3-control circuit, a 4-display, a 5-current sensor and a 6-angle sensor.
Detailed Description
In order to clearly describe the technical solution of the embodiments of the present invention, in the embodiments of the present invention, the words "first", "second", etc. are used to distinguish the same item or similar items having substantially the same function and effect. For example, the first threshold and the second threshold are merely for distinguishing between different thresholds, and are not limited in order. It will be appreciated by those of skill in the art that the words "first," "second," and the like do not limit the amount and order of execution, and that the words "first," "second," and the like do not necessarily differ.
In the present invention, the words "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.
In the present invention, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a alone, a and B together, and B alone, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b or c may represent: a, b, c, a and b, a and c, b and c, or a, b and c, wherein a, b, c can be single or multiple.
At present, most permanent magnet synchronous motors are controlled by adopting a vector control method, and it is important for a motor control system to acquire accurate current sampling values, and in vector control, the current sampling values are usually sent to a micro control unit (Micro Control Unit, MCU) controller for vector control calculation after passing through a current sensor 5, an operational amplifier and an analog-to-digital (AD) conversion device. In the current loop sampling stage, interference noise is introduced into the current sensor 5, random noise related to an operational amplifier and a resistive circuit thereof is introduced into a conditioning circuit, noise is also introduced into a control circuit and other factors in the sampling process, the current loop performance is affected, noise interference is required to be filtered to improve the stability of the current loop, and the convergence speed of filtering in the existing filtering process is low, so that the efficiency of the filtering process is low.
In view of this, as shown in fig. 1 and 2, the present invention provides an intelligent control device for a permanent magnet synchronous motor 2, comprising: a permanent magnet synchronous motor 2 and an intelligent controller 1; the intelligent controller 1 and the permanent magnet synchronous motor 2 are arranged in an intelligent control device of the permanent magnet synchronous motor 2; the intelligent controller 1 is in communication connection with the permanent magnet synchronous motor 2; the intelligent controller 1 is used for controlling the permanent magnet synchronous motor 2;
an adaptive current filter 11 is arranged in the intelligent controller 1; the self-adaptive current filter 11 adopts an improved LMS algorithm to carry out filtering treatment on the current of the permanent magnet synchronous motor 2; the modified LMS algorithm is added with a correction parameter; and the correction parameters are used for dynamically adjusting the weight of the weight updating function in the improved LMS algorithm.
The permanent magnet synchronous motor 2 is a synchronous motor which utilizes permanent magnets to establish an excitation magnetic field, a stator of the synchronous motor generates a rotating magnetic field, a rotor of the synchronous motor is made of permanent magnet materials, a direct current magnetic field is needed for realizing energy conversion of the synchronous motor, and direct current for generating the magnetic field is called excitation current of the motor. The intelligent controller 1 is in communication connection with the permanent magnet synchronous motor 2 and is used for controlling the permanent magnet synchronous motor 2 to rotate.
The LMS algorithm (Least mean square algorithm), i.e. the least mean square algorithm, does not require knowledge of the statistical characteristics of the input signal and the desired signal, and the weight coefficient for the "current time" is obtained by adding a proportional term of the "last time" weight coefficient and a negative mean square error gradient. The LMS algorithm has the characteristics of simple algorithm, easy realization and the like, but the convergence rate of the algorithm is slower, so that the performance of the LMS algorithm can be measured according to the convergence rate of the LMS algorithm, and whether the adaptive filter algorithm can have the fast convergence rate or not is considered when the adaptive filter is designed, so that the LMS algorithm has better calculation performance.
As an alternative embodiment, the correction parameter is:
in the formula (1), c (n) represents a correction parameter, h (n) represents a weight, ρ and δ represent correction parameters, and exp represents an exponential operation;
and the relation between the correction parameter and the weight is linear positive correlation.
The adaptive current filter 11 of the present invention performs filtering processing on the current of the permanent magnet synchronous motor 2 by using an improved LMS algorithm, and the improved LMS algorithm adds a correction parameter c (n), so that the weight h (n) in the weight updating function can be dynamically adjusted by the improved LMS algorithm.
The existing LMS algorithm is:
in the formula (2), x (n) and y (n) respectively represent an nth input signal and a filtered output signal of the adaptive model, d (n) represents a desired output, e (n) represents an error value, h (n) represents a weight, and μ is a step factor.
Therefore, the weight update function of the existing LMS algorithm is:
h(n+1)＝h(n)+2μx(n)e(n) (3)
in the formula (3), h (n+1) represents the updated weight, h (n) represents the weight, x (n) represents the nth input signal of the adaptive current filter 11, e (n) represents the error value, μ represents the step size factor,
the weight updating function is gradually changed along with the increase of the iteration times until the weight h (n) tends to be stable, and the algorithm is ended. To reduce the steady state error, the step size factor μ in the LMS algorithm is typically set smaller, which greatly slows down the convergence rate of the LMS algorithm. Therefore, the invention provides a correction parameter c (n), wherein the value range of rho is 0-1, the value range of delta is 0.001-2, and when h (n) is larger, c (n) is larger according to the formula (1); when h (n) is smaller, c (n) is smaller according to the formula (1), the relation between the correction parameter c (n) and the weight h (n) is in linear positive correlation, and further the improved LMS algorithm can dynamically adjust the size of h (n+1) according to the correction parameter c (n), so that the convergence speed of the improved LMS algorithm is increased, and when the improved LMS algorithm is applied to the adaptive current filter 11, the filtering speed of current is increased.
As an optional implementation manner, the weight updating function is:
h(n+1)＝h(n)+2μx(n)e(n)-c(n) (4)
in the formula (4), h (n+1) represents the updated weight, x (n) represents the nth input signal of the adaptive current filter 11, e (n) represents the error value, and μ represents the step factor;
the correction parameter is a subtraction formula of the weight updating function.
The modified parameter c (n) is taken as the subtraction phase of the weight updating function of the improved LMS algorithm, the weight updating function formula (4) provided by the invention is obtained, and the relation between the modified parameter c (n) and the weight h (n) is known to be linear positive correlation by the formula (3), so that the weight updating function provided by the invention can dynamically adjust the size of h (n+1) according to c (n) and h (n) by combining the formula (4), thereby the weight tends to be stable, the convergence speed of the improved LMS algorithm is accelerated, and the filtering speed of current is further accelerated.
As an alternative embodiment, the modified LMS algorithm is:
in the formula (5), y (n) represents an nth output signal obtained by filtering x (n) by the adaptive current filter 11, e (n) represents an error value, and d (n) represents a desired output;
the adaptive current filter 11 samples each new input to obtain x (n) and d (n) corresponding to x (n), and calculates y (n) and e (n) by the improved LMS algorithm; and calculating the weight through the weight updating function based on the obtained y (n) and e (n), so that the numerical value of the updated weight tends to be stable.
As can be seen from the formula (5), the improved LMS algorithm of the present invention not only samples each new input through the adaptive current filter 11 to obtain x (n) and d (n) corresponding to x (n), and calculates y (n) and e (n), but also calculates the weight by adding a new weight update function (formula (4)) of the correction parameter c (n), so that the rate at which the value of the updated weight tends to be stable becomes fast.
As an optional implementation manner, the intelligent control device for the permanent magnet synchronous motor 2 further includes: a controller chip and motor vector closed loop controller 12; the controller chip is in communication connection with the motor vector closed-loop controller 12; the adaptive current filter 11 is in communication connection with the motor vector closed-loop controller 12; the controller chip is used for calculating the axial current of the permanent magnet synchronous motor 2; the adaptive current filter 11 performs the filtering process on the axial current using an improved LMS algorithm.
As shown in fig. 2, the device further includes a controller chip and a motor vector closed-loop controller 12, the controller chip is in communication connection with the motor vector closed-loop controller 12, and meanwhile, an adaptive current filter 11 is also in communication connection with the motor vector closed-loop controller 12, the controller chip is used for calculating an axial current of the permanent magnet synchronous motor 2, and the adaptive current filter 11 performs the filtering processing on the axial current by adopting an improved LMS algorithm. After the device collects the current of the permanent magnet synchronous motor 2, the current is transmitted to the motor vector closed-loop controller 12, and the axial current of the d/q axis is calculated by a controller chip, namely the MCU2 in FIG. 2; and d/q current is input into an adaptive current filter 11 for filtering, the adaptive current filter 11 filters current of a current loop d/q axis, the filtered d/q current is input into a vector closed-loop controller 12 again, a space vector pulse width modulation duty ratio is calculated through an MCU2, and the space vector pulse width modulation duty ratio is input into a control circuit 3 module to finally control the rotation of a motor.
The vector closed-loop controller 12 of the present device functions as: will i a 、i b And i c The current i of the d-q axis of the current loop is obtained through vector control current coordinate transformation d And i q The method comprises the steps of carrying out a first treatment on the surface of the Filtered i d And i q The method comprises the steps of obtaining Vq and Vd through proportional-integral-derivative control (PID control for short), performing park inverse transformation, projecting a, b and c three-phase voltages of a stator onto a direct axis (d axis) rotating along with a rotor, obtaining voltages Va, vb and Vc on an intersecting axis (q axis) and a zero axis (0 axis) perpendicular to a d-q plane, performing space vector pulse width modulation (SVPWM, space Vector Pulse Width Modulation) on voltage signals of Va, vb and Vc, taking ideal flux linkage circles of a three-phase symmetrical motor stator when three-phase symmetrical sine wave voltages are supplied as reference standard, performing appropriate switching through different switching modes of a three-phase inverter, calculating and generating pulse width modulation (PWM, pulse widthmodulation) waves with different duty ratios, and further changing the magnitude of stator voltages of the three-phase motor, so as to control the operation of the three-phase motor.
As an alternative embodiment, the filtering of the axial current by the adaptive current filter 11 using the modified LMS algorithm includes:
the axial current comprises d-axis current and q-axis current, and the treatment process of the d-axis current and the q-axis current is the same;
the adaptive current filter 11 performs the filtering process on the d-axis current by using an improved LMS algorithm as follows:
in the formula (6), i dx (n) represents the d-axis current of the nth output of the motor vector closed loop controller 12; i.e dd (n) represents a d-axis desired current value by applying a voltage to i dx (n) low pass filtering; i.e dy (n) represents the d-axis current after the adaptive current filter 11 processes;
the adaptive current filter 11 performs the filtering process on the q-axis current by using the improved LMS algorithm as follows:
in the formula (7), i qx (n) represents the q-axis current of the nth output of the motor vector closed loop controller 12; i.e qd (n) represents the q-axis expected current value by applying the current to i qx (n) low pass filtering; i.e qy (n) represents the q-axis current processed by the adaptive current filter 11.
In the permanent magnet synchronous motor 2, the current can be split into two components: q-axis current and d-axis current. Where the q-axis current is the current component perpendicular to the rotor magnetic field and the d-axis current is the current component parallel to the rotor magnetic field. Decomposing the current into q-axis and d-axis can better control the running state of the motor; specifically, q-axis current and d-axis current can control the magnetic field and torque of the motor: the q-axis current controls the field of the motor, while the d-axis current controls the torque of the motor. By controlling the magnitude and direction of the q-axis current and the d-axis current, accurate control of the rotational speed, torque and efficiency of the motor can be achieved.
When the improved LMS algorithm is adopted by the self-adaptive current filter 11 for carrying out the filtering treatment on the axial current, the processing process of d-axis current and q-axis current is adopted, and the formula (6) and the formula (7) are adopted, so that the subtraction phase c (n) is added to the improved LMS algorithm, and the speed of the permanent magnet synchronous motor 2 for filtering the current is increased.
As an alternative embodiment, the processed d-axis current and the processed q-axis current are input to the vector closed-loop controller 12 again, and d-axis voltage and q-axis voltage are calculated by the controller chip;
based on the d-axis voltage and the q-axis voltage, the vector closed-loop controller 12 performs space vector pulse width modulation to obtain the stator voltage of the permanent magnet synchronous motor 2.
Wherein the vector closed-loop controller 12 will i a 、i b 、i c The current i of the d-q axis of the current loop is obtained through vector control current coordinate transformation d 、i q Calculated i d 、i q The input adaptive current filter 11 filters, i d 、i q The stator voltage of the permanent magnet synchronous motor 2 is obtained by inputting the space vector pulse width modulation (SVPWM, space VectorPulse WidthModulation) duty ratio into the vector closed-loop controller 12 again and calculating the space vector pulse width modulation (SVPWM, space VectorPulse WidthModulation) duty ratio through the MCU2, and the operation of the three-phase motor is controlled.
As an optional implementation manner, the intelligent control device for the permanent magnet synchronous motor 2 further includes: a control circuit 3 and a display 4; the input end of the control circuit 3 is in communication connection with the output end of the intelligent controller 1, and the control circuit 3 is used for receiving and transmitting control instructions of the intelligent controller 1; the output end of the control circuit 3 is in communication connection with the input end of the permanent magnet synchronous motor 2, and the control circuit 3 is used for controlling the permanent magnet synchronous motor 2 to rotate; the display 4 is arranged in the intelligent control device of the permanent magnet synchronous motor 2; the input end of the display 4 is respectively in communication connection with the output end of the intelligent controller 1, the output end of the control circuit 3 and the output end of the sensor.
As shown in fig. 1, the intelligent control device for the permanent magnet synchronous motor 2 further includes a control circuit 3 and a display 4: the control circuit 3 receives and transmits a control instruction of the intelligent controller 1 and controls the permanent magnet synchronous motor 2 to rotate; the display 4 is arranged in the intelligent control device of the permanent magnet synchronous motor 2; the input end of the display 4 is respectively in communication connection with the output end of the intelligent controller 1, the output end of the control circuit 3 and the output end of the sensor, and the control information of the device is displayed.
As an alternative embodiment, the display 4 includes a display screen and a display 4 chip; the input end of the display 4 chip is respectively in communication connection with the output end of the intelligent controller 1, the output end of the control circuit 3 and the output end of the sensor; the output end of the display 4 chip is in communication connection with the display screen.
The display 4 of the device is a human-computer interaction display 4, a command can be set on a display screen, and a chip of the display 4, namely the MCU1 in fig. 1, receives the command, and then issues the command set on the display screen to the intelligent controller 1 through a communication serial port to control the starting, stopping, acceleration and deceleration, parameter adjustment and the like of a motor.
As an optional implementation manner, the intelligent control device for the permanent magnet synchronous motor 2 further includes: a sensor; the sensor comprises a current sensor 5 and an angle sensor 6; the sensor is arranged in the intelligent control device of the permanent magnet synchronous motor 2; the input end of the sensor is in communication connection with the permanent magnet synchronous motor 2, and the sensor is used for collecting the current of the permanent magnet synchronous motor 2; the output end of the sensor is in communication connection with the input end of the intelligent controller 1.
The sensor is a detection device which can sense the measured information and convert the sensed information into an electric signal or other information output in a required form according to a certain rule so as to meet the requirements of information transmission, processing, storage, display, recording, control and the like. The sensor in the intelligent control device of the permanent magnet synchronous motor 2 is used for collecting the current of the permanent magnet synchronous motor 2 and comprises a current sensor 5 and an angle sensor 6, wherein the current sensor 5 is used for collecting the value of the current of the permanent magnet synchronous motor 2, and the angle sensor 6 is used for collecting the angle of the current of the permanent magnet synchronous motor 2, so that the vector of the current of the permanent magnet synchronous motor 2 is obtained, and the required current information is accurately obtained.
As shown in fig. 1, the device comprises an MCU1, a permanent magnet synchronous motor 2, a control circuit 3, a current sensor 5, an angle sensor 6 and an intelligent controller 1, and can adaptively filter interference signals in current. The current sensor 5 is connected with the motor, and is used for measuring the three-phase stator current of the motor and inputting the measured current into the intelligent controller 1 of the permanent magnet synchronous motor 2; the intelligent controller 1 comprises an MCU2, a motor vector closed-loop controller 12 and an adaptive current filter 11. The current sensor 5 collects current, transmits the current to the motor vector closed-loop controller 12, calculates d/q axis current by the MCU2, inputs the d/q axis current into the adaptive current filter 11 for filtering, inputs the filtered d/q current into the vector closed-loop controller 12 again, calculates svpwm duty ratio by the MCU2, inputs the module of the control circuit 3, and finally controls the motor to rotate.
Although the invention is described herein in connection with various embodiments, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.
Although the invention has been described in connection with specific features and embodiments thereof, it will be apparent that various modifications and combinations can be made without departing from the spirit and scope of the invention. Accordingly, the specification and drawings are merely exemplary illustrations of the present invention as defined in the appended claims and are considered to cover any and all modifications, variations, combinations, or equivalents that fall within the scope of the invention. It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (10)

1. An intelligent control device for a permanent magnet synchronous motor, which is characterized by comprising: a permanent magnet synchronous motor and an intelligent controller; the intelligent controller and the permanent magnet synchronous motor are arranged in the intelligent control device of the permanent magnet synchronous motor; the intelligent controller is in communication connection with the permanent magnet synchronous motor; the intelligent controller is used for controlling the permanent magnet synchronous motor;
an adaptive current filter is arranged in the intelligent controller; the self-adaptive current filter adopts an improved LMS algorithm to carry out filtering treatment on the current of the permanent magnet synchronous motor; the modified LMS algorithm is added with a correction parameter; and the correction parameters are used for dynamically adjusting the weight of the weight updating function in the improved LMS algorithm.
2. The intelligent control device for a permanent magnet synchronous motor according to claim 1, wherein the correction parameters are:
c (n) represents a correction parameter, h (n) represents a weight, ρ and δ represent correction parameters, exp represents an exponential operation;
and the relation between the correction parameter and the weight is linear positive correlation.
3. The intelligent control device for the permanent magnet synchronous motor according to claim 2, wherein,
the weight updating function is as follows:
h(n+1)＝h(n)+2μx(n)e(n)-c(n)
h (n+1) represents the updated weight, x (n) represents the nth input signal of the adaptive current filter, e (n) represents the error value, and μ represents the step size factor;
the correction parameter is a subtraction formula of the weight updating function.
4. The intelligent control device for a permanent magnet synchronous motor according to claim 3, wherein the improved LMS algorithm is:
y (n) represents the nth output signal of x (n) after being filtered by the adaptive current filter, e (n) represents an error value, and d (n) represents a desired output;
the self-adaptive current filter samples each new input to obtain x (n) and d (n) corresponding to the x (n), and y (n) and e (n) are calculated through the improved LMS algorithm; and calculating the weight through the weight updating function based on the obtained y (n) and e (n), so that the numerical value of the updated weight tends to be stable.
5. The intelligent control device for a permanent magnet synchronous motor according to claim 1, further comprising: a controller chip and a motor vector closed-loop controller; the controller chip is in communication connection with the motor vector closed-loop controller; the self-adaptive current filter is in communication connection with the motor vector closed-loop controller; the controller chip is used for calculating the axial current of the permanent magnet synchronous motor; the adaptive current filter performs the filtering process on the axial current using an improved LMS algorithm.
6. The intelligent control device for a permanent magnet synchronous motor according to claim 5, wherein the adaptive current filter performs the filtering process on the axial current by using an improved LMS algorithm, and the method comprises:
the axial current comprises d-axis current and q-axis current, and the treatment process of the d-axis current and the q-axis current is the same;
the self-adaptive current filter adopts an improved LMS algorithm to carry out the filtering treatment on d-axis current as follows:
i dx (n) represents d-axis current of an nth output of the motor vector closed loop controller; i.e dd (n) represents a d-axis desired current value by applying a voltage to i dx (n) low pass filtering; i.e dy (n) represents the d-axis current after the adaptive current filter processing;
the self-adaptive current filter adopts an improved LMS algorithm to carry out the filtering treatment on the q-axis current as follows:
i qx (n) represents the q-axis current of the nth output of the motor vector closed loop controller; i.e qd (n) represents the q-axis expected current value by applying the current to i qx (n) low pass filtering; i.e qy (n) represents the q-axis current after the adaptive current filter processing.
7. The intelligent control device of a permanent magnet synchronous motor according to claim 6, wherein the processed d-axis current and the processed q-axis current are input to the vector closed-loop controller again, and d-axis voltage and q-axis voltage are calculated by the controller chip;
based on the d-axis voltage and the q-axis voltage, the vector closed-loop controller performs space vector pulse width modulation to obtain the stator voltage of the permanent magnet synchronous motor.
8. The intelligent control device for a permanent magnet synchronous motor according to claim 1, further comprising: a control circuit and a display; the input end of the control circuit is in communication connection with the output end of the intelligent controller, and the control circuit is used for receiving and transmitting control instructions of the intelligent controller; the output end of the control circuit is in communication connection with the input end of the permanent magnet synchronous motor, and the control circuit is used for controlling the permanent magnet synchronous motor to rotate; the display is arranged in the intelligent control device of the permanent magnet synchronous motor; the input end of the display is respectively in communication connection with the output end of the intelligent controller, the output end of the control circuit and the output end of the sensor.
9. The intelligent control device of the permanent magnet synchronous motor according to claim 8, wherein the display comprises a display screen and a display chip; the input end of the display chip is respectively in communication connection with the output end of the intelligent controller, the output end of the control circuit and the output end of the sensor; and the output end of the display chip is in communication connection with the display screen.
10. The intelligent control device for a permanent magnet synchronous motor according to claim 1, further comprising: a sensor; the sensor comprises a current sensor and an angle sensor; the sensor is arranged in the intelligent control device of the permanent magnet synchronous motor; the input end of the sensor is in communication connection with the permanent magnet synchronous motor, and the sensor is used for collecting the current of the permanent magnet synchronous motor; and the output end of the sensor is in communication connection with the input end of the intelligent controller.
CN202311252673.1A 2023-09-26 2023-09-26 Intelligent control device of permanent magnet synchronous motor Pending CN117318551A (en)

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