CN117749025B - Permanent magnet synchronous motor control method with wide rotation speed self-adaptive adjustment - Google Patents
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Abstract
The invention discloses a permanent magnet synchronous motor control method with wide rotation speed self-adaptive regulation, which relates to the technical field of permanent magnet synchronous motor control and comprises the following steps: calculating to obtain the load average valueAnd a load change evaluation index Fb; calculating to obtain the average value of the rotation speedAnd a rotation speed variation evaluation index Vb; calculating acceleration of target permanent magnet synchronous motorThereby further calculating the average value of the accelerationAnd an acceleration change evaluation index Db; according to the load, the rotating speed and the acceleration analysis result, realizing the self-adaptive adjustment of the wide rotating speed; and collecting the self-adaptively adjusted rotating speed of the target permanent magnet synchronous motor, calculating to obtain an adjustment deviation coefficient Pc, and when the adjustment deviation coefficient Pc is larger than a deviation threshold value, sending out abnormal early warning. By comprehensively considering various factors, the accurate speed regulation of the motor can be realized, and the self-adaptive regulated rotating speed of the permanent magnet synchronous motor is analyzed, so that the problems can be found and processed in time.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motor control, in particular to a permanent magnet synchronous motor control method with wide rotation speed self-adaptive adjustment.
Background
The existing permanent magnet synchronous motor control methods include a variable frequency speed regulation method, a direct torque control method, a PWM speed regulation method and a vector control method. The variable frequency speed regulation method utilizes a frequency converter to regulate the power supply frequency and voltage so as to realize the accurate control of the rotating speed of the motor. The variable frequency speed regulation method has the characteristics of wide speed regulation range, high control precision, good starting and braking performances and the like, and is a common permanent magnet synchronous motor speed regulation mode; the direct torque control method calculates the rotor speed and the load characteristic by measuring the magnetic field and the armature current of the motor, thereby realizing the torque control of the motor. The direct torque control method has the characteristics of high response speed, high speed regulation precision and the like, and is suitable for the application field with high requirement on rotation speed change. The PWM (pulse width modulation) technique is adopted in the PWM speed regulation method, and the rotation speed of the motor is controlled by changing the pulse width of the motor voltage. The method has the advantages of wide speed regulation range, high control precision, strong reliability and the like. The vector control method adopts a mathematical model to control the magnetic field of the motor, realizes accurate rotation speed and torque control, and is applied to the field of high-precision control.
In the Chinese application with the application publication number of CN111262490A, a control method and a system of a double-rotor permanent magnet motor are disclosed, wherein the control method comprises the steps of detecting three-phase stator current of the motor to obtain stator current; coordinate transformation is carried out on the stator current to obtain the quantity of two rotation systems of the stator current; calculating a component value of a stator current dq axis at a next moment based on the calculated two rotation systems of the stator current; determining a voltage vector; expanding the voltage vector; selecting an optimal voltage vector from the expanded voltage vectors based on the component values of the dq-axis of the stator current at the next time by using an improved cost function; and controlling the on and off of the inverter based on the optimal voltage vector, so as to control the stable operation of the double-rotor permanent magnet motor.
In the above application, the current and voltage of the motor are analyzed to determine the optimal voltage vector, so as to control the dual-rotor permanent magnet motor to stably operate, but in the actual operation process, the same current and voltage can generate different rotating speeds due to different motor loads, so that the permanent magnet synchronous motor is only analyzed and controlled by means of current and voltage data analysis, the control precision is not high, and whether the control result reaches the expectations cannot be predicted.
Therefore, the invention provides a permanent magnet synchronous motor control method with wide rotation speed self-adaptive adjustment.
Disclosure of Invention
(One) solving the technical problems
Aiming at the defects of the prior art, the invention provides a permanent magnet synchronous motor control method with wide rotation speed self-adaptive regulation, which obtains a load average value by analyzing the load, rotation speed and acceleration of the permanent magnet synchronous motorLoad change evaluation index Fb, rotational speed average/>Rotational speed variation evaluation index Vb, acceleration average/>And the acceleration change evaluation index Db comprehensively considers various factors, so that the accurate speed regulation of the motor can be realized, the acceleration and deceleration control of the motor is more reasonable, and the motor is more stable when starting and stopping. And the self-adaptive regulated rotating speed of the permanent magnet synchronous motor is analyzed, an adjustment deviation coefficient Pc is obtained through calculation, when the adjustment deviation coefficient Pc is larger than a deviation threshold value, an abnormal early warning is sent outwards, the difference between the self-adaptive regulated rotating speed and the expected rotating speed can be known, when the Pc is larger than the deviation threshold value, the abnormal rotating speed of the motor is indicated, at the moment, the abnormal early warning can be sent out to discover and process problems in time, and larger loss or faults are avoided. Thereby solving the technical problems described in the background art.
(II) technical scheme
In order to achieve the above purpose, the invention is realized by the following technical scheme: the permanent magnet synchronous motor control method with the wide rotation speed self-adaptive regulation comprises the following steps:
Collecting the load of the target permanent magnet synchronous motor to obtain a load data set (Fz 1,Fz2,…,Fzi), and calculating to obtain a load average value And a load change evaluation index Fb;
Collecting the rotation speed of the target permanent magnet synchronous motor to obtain a rotation speed data set (V 1,V2,…,Vi), and calculating to obtain a rotation speed average value And a rotation speed variation evaluation index Vb;
acquiring a rotating speed data set (V 1,V2,…,Vi), calculating the acceleration a i-1 of the target permanent magnet synchronous motor, acquiring an acceleration data set (a 1,a2,…,ai-1) after finishing, and further calculating the average value of the acceleration And an acceleration change evaluation index Db;
According to the load mean value Load change evaluation index Fb, rotational speed average/>Rotational speed variation evaluation index Vb, acceleration average/>The acceleration change evaluation index Db is used for obtaining a PWM signal with an adjustable duty ratio, and outputting the PWM signal to a motor driver to realize the self-adaptive adjustment of the wide rotating speed;
and collecting the self-adaptively adjusted rotating speed of the target permanent magnet synchronous motor, obtaining an adjusted rotating speed data set (V 1,V2,…,Vk), calculating to obtain an adjusted deviation coefficient Pc, and when the adjusted deviation coefficient Pc is larger than a deviation threshold value, sending out abnormal early warning.
Further, a force sensor is arranged at the output end of the permanent magnet synchronous motor, the load of the target permanent magnet synchronous motor is periodically acquired through the force sensor, and a load data set (Fz 1,Fz2,…,Fzi) is obtained, wherein i=1, 2 … n is less than or equal to 100, and i is represented as the time sequence number of the ith load data; the periodic acquisition time interval is 100us.
Further, a load data set (Fz 1,Fz2,…,Fzi) is obtained, and after linear normalization processing, a load average value is calculated
Corresponding load mean valueThe calculation formula of (2) is as above.
Further, a load data set (Fz 1,Fz2,…,Fzi) and a load mean are obtainedAfter the linear normalization processing, a load change evaluation index Fb is calculated and obtained:
the calculation formula of the corresponding load variation evaluation index Fb is as above.
Further, a photoelectric encoder is arranged at the output end of the permanent magnet synchronous motor, and the rotation speed of the target permanent magnet synchronous motor is periodically acquired through the photoelectric encoder to obtain a rotation speed data set (V 1,V2,…,Vi), wherein i=1, 2 … n, n is less than or equal to 100, and i is represented as the time sequence number of the ith rotation speed data; the periodic acquisition time interval is 100us;
Acquiring a rotating speed data set (V 1,V2,…,Vi), performing linear normalization, and calculating to obtain a rotating speed average value
Corresponding rotation speed average valueThe calculation formula of (2) is as above.
Further, a rotational speed data set (V 1,V2,…,Vi) and a rotational speed average value are obtainedAfter linear normalization processing, calculating to obtain a rotation speed change evaluation index Vb:
The calculation formula of the corresponding rotation speed variation evaluation index Vb is as above.
Further, a rotational speed data set (V 1,V2,…,Vi) is obtained, and the acceleration a i-1 of the target permanent magnet synchronous motor is calculated, and the corresponding calculation formula of the acceleration a i-1 is as follows:
The acceleration dataset (a 1,a2,…,ai-1) is obtained after sorting.
Further, an acceleration data set (a 1,a2,…,ai-1) is obtained, and after linear normalization processing, an acceleration average value is calculated and obtained
Corresponding acceleration mean valueThe calculation formula of (2) is as above.
Further, an acceleration data set (a 1,a2,…,ai-1) and an acceleration mean value are acquiredAfter linear normalization processing, calculating to obtain an acceleration change evaluation index Db:
The calculation formula of the corresponding acceleration change evaluation index Db is as above.
Further, the load is averagedLoad change evaluation index Fb, rotational speed average/>Rotational speed variation evaluation index Vb, acceleration average/>And the acceleration change evaluation index Db and the target rotating speed are input into a PID controller, and the PID controller calculates the control quantity and outputs the control quantity.
Further, the control quantity is input into the PWM generator, and the PWM signal with adjustable duty ratio is obtained through a processing circuit and a filter circuit in the PWM generator.
Further, PWM signals are output to a motor driver, and the current and the rotating speed of the motor are controlled by adjusting the duty ratio, so that the wide rotating speed self-adaptive adjustment is realized.
Further, the adaptively adjusted rotational speed of the target permanent magnet synchronous motor is periodically acquired using a photoelectric encoder to obtain an adjusted rotational speed dataset (V 1,V2,…,Vk), wherein k=1, 2 … m, and m is less than or equal to 100, and k is represented as a time sequence number of the kth rotational speed data. The periodic acquisition time interval is 100us.
Further, an adjustment rotation speed data set (V 1,V2,…,Vk) and a target rotation speed V a are acquired, and an adjustment deviation coefficient Pc is calculated and obtained:
the calculation formula of the corresponding adjustment deviation coefficient Pc is as above.
(III) beneficial effects
The invention provides a control method of a permanent magnet synchronous motor with a wide rotating speed self-adaptive regulation function, which has the following beneficial effects:
1. the load average value is calculated and obtained by collecting the load of the target permanent magnet synchronous motor And the load change evaluation index Fb can be used for knowing the actual load condition of the motor, judging whether the motor is in an overload or underload state or not and judging whether a control strategy needs to be adjusted to optimize the operation of the motor or not.
2. The average value of the rotating speed is calculated and obtained by collecting the rotating speed of the target permanent magnet synchronous motorAnd the rotation speed change evaluation index Vb can know the actual rotation speed condition of the motor, judge whether the motor is in an overspeed or low-speed state, and adjust a control strategy to optimize the operation of the motor, so that the influence on the service life and stability of the motor caused by abnormal fluctuation of the rotation speed of the motor or long-time overspeed state is avoided.
3. According to the load mean valueLoad change evaluation index Fb, rotational speed average/>Rotational speed variation evaluation index Vb, acceleration average/>And the acceleration change evaluation index Db is used for obtaining a PWM signal with an adjustable duty ratio, outputting the PWM signal to a motor driver, realizing the self-adaptive adjustment of the wide rotating speed, realizing the accurate speed regulation of the motor, ensuring that the acceleration and deceleration control of the motor is more reasonable and the motor is more stable when being started and stopped.
4. The self-adaptive adjustment rotating speed of the target permanent magnet synchronous motor is acquired, an adjustment deviation coefficient Pc is obtained through calculation, when the adjustment deviation coefficient Pc is larger than a deviation threshold value, abnormal early warning is sent outwards, the difference between the self-adaptive adjustment rotating speed and the expected rotating speed can be known, when the Pc is larger than the deviation threshold value, the abnormal rotating speed of the motor is indicated, at the moment, the abnormal early warning can be sent out to discover and process problems in time, and larger loss or faults are avoided.
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Fig. 1 is a flow chart of a control method of a permanent magnet synchronous motor with wide rotation speed adaptive regulation.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the present invention provides a permanent magnet synchronous motor control method with wide rotation speed adaptive adjustment, which includes the following steps:
step one, collecting the load of a target permanent magnet synchronous motor to obtain a load data set (Fz 1,Fz2,…,Fzi), and calculating to obtain a load average value And a load change evaluation index Fb.
The first step comprises the following steps:
and step 101, installing a force sensor at the output end of the permanent magnet synchronous motor, periodically acquiring the load of the target permanent magnet synchronous motor through the force sensor to obtain a load data set (Fz 1,Fz2,…,Fzi), wherein i=1, 2, …, n is less than or equal to 100, i is represented as the time sequence number of the ith load data, and the periodic acquisition time interval is 100us.
102, Obtaining a load data set (Fz 1,Fz2,…,Fzi), performing linear normalization, and calculating to obtain a load mean value
Wherein the corresponding load mean valueThe calculation formula of (2) is as above.
Step 103, obtaining a load dataset (Fz 1,Fz2,…,Fzi) and a load meanAfter the linear normalization processing, a load change evaluation index Fb is calculated and obtained:
the calculation formula of the corresponding load variation evaluation index Fb is as above.
In use, the contents of steps 101 and 103 are combined:
The load data set (Fz 1,Fz2,…,Fzi) is obtained by collecting the load of the target permanent magnet synchronous motor, and the load average value is obtained by calculation And the load change evaluation index Fb can be used for knowing the actual load condition of the motor, judging whether the motor is in an overload or underload state or not and judging whether a control strategy needs to be adjusted to optimize the operation of the motor or not.
Step two, collecting the rotating speed of the target permanent magnet synchronous motor to obtain a rotating speed data set (V 1,V2,…,Vi), and calculating to obtain a rotating speed average valueAnd a rotation speed variation evaluation index Vb.
The second step comprises the following steps:
Step 201, installing a photoelectric encoder at the output end of the permanent magnet synchronous motor, and periodically collecting the rotating speed of the target permanent magnet synchronous motor through the photoelectric encoder to obtain a rotating speed data set (V 1,V2,…,Vi), wherein i=1, 2 … n, n is less than or equal to 100, and i is represented as the time sequence number of the ith rotating speed data. The periodic acquisition time interval is 100us.
The photoelectric encoder is mainly used for measuring the rotating speed by pulse counting or pulse timing, and three speed measuring methods of the photoelectric encoder are respectively M methods, namely a position difference method, for measuring the pulse number to measure the speed; the T method is a fixed angle time measurement method, measures the time interval of pulses to measure the speed, and also combines the M/T speed measurement method of the two methods.
Step 202, acquiring a rotating speed data set (V 1,V2,…,Vi), performing linear normalization processing, and calculating to obtain a rotating speed average value
Corresponding rotation speed average valueThe calculation formula of (2) is as above.
Step 203, obtaining a rotational speed data set (V 1,V2,…,Vi) and a rotational speed average valueAfter linear normalization processing, calculating to obtain a rotation speed change evaluation index Vb:
The calculation formula of the corresponding rotation speed variation evaluation index Vb is as above.
In use, the contents of steps 201 and 203 are combined:
Acquiring the rotating speed of the target permanent magnet synchronous motor to obtain a rotating speed data set (V 1,V2,…,Vi), and calculating to obtain a rotating speed average value And the rotation speed change evaluation index Vb can know the actual rotation speed condition of the motor, judge whether the motor is in an overspeed or low-speed state, and adjust a control strategy to optimize the operation of the motor, so that the influence on the service life and stability of the motor caused by abnormal fluctuation of the rotation speed of the motor or long-time overspeed state is avoided.
Step three, acquiring a rotating speed data set (V 1,V2,…,Vi), calculating the acceleration a i-1 of the target permanent magnet synchronous motor, acquiring an acceleration data set (a 1,a2,…,ai-1) after finishing, and further calculating the average value of the accelerationAnd an acceleration change evaluation index Db.
The third step comprises the following steps:
Step 301, a rotation speed data set (V 1,V2,…,Vi) is obtained, and the acceleration a i-1 of the target permanent magnet synchronous motor is calculated, and the corresponding calculation formula of the acceleration a i-1 is as follows:
The acceleration dataset (a 1,a2,…,ai-1) is obtained after sorting.
302, Acquiring an acceleration data set (a 1,a2,…,ai-1), performing linear normalization, and calculating to obtain an acceleration mean value
Corresponding acceleration mean valueThe calculation formula of (2) is as above.
Step 303, acquiring an acceleration dataset (a 1,a2,…,ai-1) and an acceleration meanAfter linear normalization processing, calculating to obtain an acceleration change evaluation index Db:
The calculation formula of the corresponding acceleration change evaluation index Db is as above.
In use, the contents of steps 301 and 303 are combined:
By acquiring a rotating speed data set (V 1,V2,…,Vi), calculating the acceleration a i-1 of the target permanent magnet synchronous motor, acquiring an acceleration data set (a 1,a2,…,ai-1) after finishing, and further calculating the average value of the acceleration And the acceleration change evaluation index Db can be used for knowing the actual acceleration condition of the motor, judging whether the rotating speed of the motor is changed more severely and evaluating whether the motor can adapt to the change.
Step four, according to the load average valueLoad change evaluation index Fb, rotational speed average/>Rotational speed variation evaluation index Vb, acceleration average/>And the acceleration change evaluation index Db is used for obtaining a PWM signal with an adjustable duty ratio, and outputting the PWM signal to a motor driver to realize the self-adaptive adjustment of the wide rotating speed.
The fourth step comprises the following steps:
Step 401, load mean value Load change evaluation index Fb, rotational speed average/>Rotational speed variation evaluation index Vb, acceleration average/>And the acceleration change evaluation index Db and the target rotating speed are input into a PID controller, and the PID controller calculates the control quantity and outputs the control quantity.
And step 402, inputting the control quantity into a PWM generator, and obtaining a PWM signal with adjustable duty ratio through a processing circuit and a filter circuit in the PWM generator.
Step 403, outputting a PWM signal to a motor driver, and controlling the current and the rotating speed of the motor by adjusting the duty ratio to realize the wide rotating speed self-adaptive adjustment.
In use, the contents of steps 401 and 403 are combined:
According to the load mean value Load change evaluation index Fb, rotational speed average/>Rotational speed variation evaluation index Vb, acceleration average/>And the acceleration change evaluation index Db is used for obtaining a PWM signal with an adjustable duty ratio, outputting the PWM signal to a motor driver, realizing the self-adaptive adjustment of the wide rotating speed, comprehensively considering various factors, realizing the accurate speed regulation of the motor, ensuring that the acceleration and deceleration control of the motor is more reasonable and the motor is more stable when being started and stopped.
And fifthly, collecting the self-adaptively adjusted rotating speed of the target permanent magnet synchronous motor, obtaining an adjusted rotating speed data set (V 1,V2,…,Vk), calculating to obtain an adjusted deviation coefficient Pc, and when the adjusted deviation coefficient Pc is larger than a deviation threshold value, sending out abnormal early warning.
The fifth step comprises the following steps:
Step 501, periodically collecting the self-adaptively adjusted rotating speed of the target permanent magnet synchronous motor by using a photoelectric encoder to obtain an adjusted rotating speed data set (V 1,V2,…,Vk), wherein k=1, 2 … m, and m is less than or equal to 100, and k is the time sequence number of the kth rotating speed data. The periodic acquisition time interval is 100us.
Step 502, obtaining an adjustment rotation speed data set (V 1,V2,…,Vk) and a target rotation speed V a, and calculating to obtain an adjustment deviation coefficient Pc:
the calculation formula of the corresponding adjustment deviation coefficient Pc is as above.
And 503, acquiring an adjustment deviation coefficient Pc, and when the adjustment deviation coefficient Pc is larger than a deviation threshold value, sending out abnormal early warning.
Wherein the deviation threshold is the average value of all adjustment deviation coefficients.
In use, the contents of steps 501 and 503 are combined:
The self-adaptive regulated rotating speed of the target permanent magnet synchronous motor is acquired, a regulated rotating speed data set (V 1,V2,…,Vk) is obtained, a regulating deviation coefficient Pc is obtained through calculation, when the regulating deviation coefficient Pc is larger than a deviation threshold value, abnormal early warning is sent outwards, the difference between the self-adaptive regulated rotating speed and the expected rotating speed can be known, when Pc is larger than the deviation threshold value, the abnormal rotating speed of the motor is indicated, at the moment, the abnormal early warning can be timely found and processed, and larger loss or faults are avoided.
The above embodiments may be implemented in whole or in part by software, hardware, firmware, or any other combination. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product. Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application.
Claims (10)
1. The permanent magnet synchronous motor control method with the wide rotation speed self-adaptive regulation is characterized by comprising the following steps of: the method comprises the following steps:
Collecting the load of the target permanent magnet synchronous motor to obtain a load data set (Fz 1,Fz2,…,Fzi), and calculating to obtain a load average value And a load change evaluation index Fb; the method comprises the steps of collecting the rotating speed of a target permanent magnet synchronous motor, obtaining a rotating speed data set (V 1,V2,…,Vi), and calculating to obtain a rotating speed average value/>And a rotation speed variation evaluation index Vb;
acquiring a rotating speed data set (V 1,V2,…,Vi), calculating the acceleration a i-1 of the target permanent magnet synchronous motor, acquiring an acceleration data set (a 1,a2,…,ai-1) after finishing, and further calculating the average value of the acceleration And an acceleration change evaluation index Db;
According to the load mean value Load change evaluation index Fb, rotational speed average/>Rotational speed variation evaluation index Vb and acceleration average valueThe acceleration change evaluation index Db is used for obtaining a PWM signal with an adjustable duty ratio, and the PWM signal is output to a motor driver to realize the self-adaptive adjustment of the wide rotating speed;
and acquiring the self-adaptive regulated rotating speed of the target permanent magnet synchronous motor to obtain a regulated rotating speed data set (V 1,V2,…,Vk), calculating to obtain a regulated deviation coefficient Pc, and when the regulated deviation coefficient Pc is larger than a deviation threshold value, sending out abnormal early warning.
2. The method for controlling a permanent magnet synchronous motor with wide rotation speed adaptive adjustment according to claim 1, wherein:
A force sensor is arranged at the output end of the permanent magnet synchronous motor, the load of the target permanent magnet synchronous motor is periodically acquired through the force sensor, and a load data set (Fz 1,Fz2,…,Fzi) is obtained, wherein i=1, 2, …, n is less than or equal to 100, and i is represented as the time sequence number of the ith load data; the periodic acquisition time interval is 100us.
3. The method for controlling a permanent magnet synchronous motor with wide rotation speed adaptive adjustment according to claim 2, wherein:
Acquiring a load data set (Fz 1,Fz2,…,Fzi), performing linear normalization, and calculating to obtain a load mean value
Corresponding load mean valueThe calculation formula of (2) is as above.
4. The method for controlling a permanent magnet synchronous motor with wide rotation speed adaptive adjustment according to claim 3, wherein:
Acquiring a load dataset (Fz 1,Fz2,…,Fzi) and a load mean After the linear normalization processing, a load change evaluation index Fb is calculated and obtained:
the calculation formula of the corresponding load variation evaluation index Fb is as above.
5. The method for controlling a permanent magnet synchronous motor with wide rotation speed adaptive adjustment according to claim 1, wherein:
A photoelectric encoder is arranged at the output end of the permanent magnet synchronous motor, and the rotation speed of the target permanent magnet synchronous motor is periodically acquired through the photoelectric encoder to obtain a rotation speed data set (V 1,V2,…,Vi), wherein i=1, 2 … n, n is less than or equal to 100, and i is represented as the time sequence number of the ith rotation speed data; the periodic acquisition time interval is 100us;
Acquiring a rotating speed data set (V 1,V2,…,Vi), performing linear normalization, and calculating to obtain a rotating speed average value
Corresponding rotation speed average valueThe calculation formula of (2) is as above.
6. The method for controlling a permanent magnet synchronous motor with wide rotation speed adaptive adjustment according to claim 5, wherein:
acquiring a rotational speed data set (V 1,V2,…,Vi) and a rotational speed average After linear normalization processing, calculating to obtain a rotation speed change evaluation index Vb:
The calculation formula of the corresponding rotation speed variation evaluation index Vb is as above.
7. The method for controlling a permanent magnet synchronous motor with wide rotation speed adaptive adjustment according to claim 6, wherein:
A rotating speed data set (V 1,V2,…,Vi) is acquired, the acceleration a i-1 of the target permanent magnet synchronous motor is calculated, and a corresponding calculation formula of the acceleration a i-1 is as follows:
The acceleration dataset (a 1,a2,…,ai-1) is obtained after sorting.
8. The method for controlling a permanent magnet synchronous motor with wide rotation speed adaptive adjustment according to claim 7, wherein:
acquiring an acceleration data set (a 1,a2,…,ai-1), performing linear normalization, and calculating to obtain an acceleration average value
Corresponding acceleration mean valueThe calculation formula of (2) is as above.
9. The method for controlling a permanent magnet synchronous motor with wide rotation speed adaptive adjustment according to claim 8, wherein:
Acquiring an acceleration dataset (a 1,a2,…,ai-1) and an acceleration mean After linear normalization processing, calculating to obtain an acceleration change evaluation index Db:
The calculation formula of the corresponding acceleration change evaluation index Db is as above.
10. The method for controlling a permanent magnet synchronous motor with wide rotation speed adaptive adjustment according to claim 7, wherein:
Acquiring an adjustment rotation speed data set (V 1,V2,…,Vk) and a target rotation speed V a, and calculating to acquire an adjustment deviation coefficient Pc:
the calculation formula of the corresponding adjustment deviation coefficient Pc is as above.
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| WO2020093465A1 (en) * | 2018-11-08 | 2020-05-14 | 中车永济电机有限公司 | High-power direct-drive permanent magnet electric transmission system for electric locomotive |
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| CN113206623A (en) * | 2021-05-06 | 2021-08-03 | 大连理工大学 | Permanent magnet synchronous motor finite time speed regulation control method based on fast integral terminal sliding mode and interference estimation |
| CN114726281A (en) * | 2022-05-17 | 2022-07-08 | 重庆大学 | Rotation speed and current control system and method of ball screw permanent magnet synchronous motor based on active disturbance rejection control |
| CN114826069A (en) * | 2022-05-19 | 2022-07-29 | 珠海格力电器股份有限公司 | Control method and device of permanent magnet synchronous motor, permanent magnet synchronous motor and air conditioner |
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