WO2022120772A1 - 永磁同步电机的磁场定向校正方法、装置、设备及介质 - Google Patents

永磁同步电机的磁场定向校正方法、装置、设备及介质 Download PDF

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WO2022120772A1
WO2022120772A1 PCT/CN2020/135534 CN2020135534W WO2022120772A1 WO 2022120772 A1 WO2022120772 A1 WO 2022120772A1 CN 2020135534 W CN2020135534 W CN 2020135534W WO 2022120772 A1 WO2022120772 A1 WO 2022120772A1
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value
magnetic field
permanent magnet
synchronous motor
magnet synchronous
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PCT/CN2020/135534
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English (en)
French (fr)
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沈文
王二峰
王宇
吴轩钦
王国建
董瑞勇
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深圳市英威腾电气股份有限公司
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Priority to CN202080003500.4A priority Critical patent/CN112655148B/zh
Priority to PCT/CN2020/135534 priority patent/WO2022120772A1/zh
Publication of WO2022120772A1 publication Critical patent/WO2022120772A1/zh

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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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present application relates to the technical field of frequency converter control, and in particular, to a magnetic field orientation correction method, device, electronic device and computer-readable storage medium of a permanent magnet synchronous motor.
  • Permanent magnet synchronous motors have the advantages of small size, high power density, high power factor, high efficiency and energy saving, hard mechanical characteristics, large starting torque, and wide speed regulation range. , track traction, unmanned aerial vehicles and many other fields of concern and wide application.
  • the purpose of this application is to provide a magnetic field orientation correction method, device, electronic device and computer-readable storage medium for a permanent magnet synchronous motor, so as to effectively improve the magnetic field orientation accuracy of the permanent magnet synchronous motor, thereby improving the accuracy of motor control.
  • the present application discloses a magnetic field orientation correction method of a permanent magnet synchronous motor, including:
  • the deviation angle is subtracted from the detected value of the rotor magnetic field position angle to obtain a corrected value of the rotor magnetic field position angle.
  • the calculation of the first value of the power factor angle based on the current model of the permanent magnet synchronous motor includes:
  • ⁇ is the first value of the power factor angle
  • ⁇ is the rotor speed
  • L d , L q are the d -axis inductance and q-axis inductance in the two-phase synchronous rotation coordinate system, respectively
  • id , i q are the two-phase synchronous rotation coordinates, respectively d-axis current and q-axis current under the system
  • E 0 ⁇ r is the no-load back electromotive force
  • ⁇ r is the rotor flux linkage.
  • the calculation of the first value of the power factor angle based on the current model of the permanent magnet synchronous motor includes:
  • the calculation of the second value of the power factor angle based on the instantaneous power model of the permanent magnet synchronous motor includes:
  • ⁇ is the second value of the power factor angle
  • P is the active power
  • Q is the reactive power
  • u ⁇ and u ⁇ are the ⁇ -axis voltage and ⁇ -axis voltage in the two-phase static coordinate system, respectively
  • i ⁇ , i ⁇ are the ⁇ -axis current and ⁇ -axis current in the two-phase stationary coordinate system, respectively.
  • performing generalized PID calculation on the difference between the first value and the second value to obtain the deviation angle comprising:
  • the result of the generalized PID calculation is low-pass filtered to obtain the deviation angle.
  • performing generalized PID calculation on the difference between the first value and the second value to obtain the deviation angle comprising:
  • the deviation angle is calculated based on the difference between the first value and the second value by using a purely proportional P calculation formula or a proportional plus integral PI calculation formula.
  • the process of acquiring the detected value of the rotor magnetic field position angle includes:
  • the detected value of the rotor magnetic field position angle is obtained based on the encoder detection; or, based on a speed-less observer algorithm, the detected value of the rotor magnetic field position angle is obtained by calculation according to the voltage value and the current value.
  • the application provides a magnetic field orientation correction device for a permanent magnet synchronous motor, comprising:
  • a calculation module for calculating the first value of the power factor angle based on the current model of the permanent magnet synchronous motor; calculating the second value of the power factor angle based on the instantaneous power model of the permanent magnet synchronous motor;
  • a difference module configured to perform generalized PID calculation on the difference between the first value and the second value to obtain a deviation angle
  • the correction module is configured to subtract the deviation angle from the detected value of the rotor magnetic field position angle to obtain a correction value of the rotor magnetic field position angle.
  • the present application also discloses an electronic device, comprising:
  • a processor configured to execute the computer program to implement the steps of any of the above-mentioned magnetic field orientation correction methods for permanent magnet synchronous motors.
  • the present application also discloses a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, is used to implement any of the above-mentioned permanent Steps of a field orientation correction method for a magnetic synchronous motor.
  • the magnetic field orientation correction method of the permanent magnet synchronous motor includes: calculating the first value of the power factor angle based on the current model of the permanent magnet synchronous motor; calculating the second value of the power factor angle based on the instantaneous power model of the permanent magnet synchronous motor value; perform generalized PID calculation on the difference between the first value and the second value to obtain the deviation angle; subtract the deviation angle from the detected value of the rotor magnetic field position angle to obtain the rotor magnetic field Correction value for position angle.
  • the magnetic field orientation correction method, device, electronic device and computer-readable storage medium of the permanent magnet synchronous motor provided by the present application have the beneficial effects that: the present application accurately calculates the magnetic field orientation based on the power factor angles calculated in different ways Therefore, the position angle of the rotor magnetic field of the permanent magnet synchronous motor is accurately corrected, thereby improving the accuracy of magnetic field orientation.
  • the vector control of the motor based on the calibrated results can effectively reduce the current loss of the motor and improve the output torque and motor operating efficiency of the motor under unit current.
  • FIG. 1 is a topological structure diagram of a main circuit for driving a permanent magnet synchronous motor provided by an embodiment of the present application;
  • FIG. 2 is a flowchart of a magnetic field orientation correction method of a permanent magnet synchronous motor disclosed in an embodiment of the application;
  • FIG. 3 is a schematic diagram of a magnetic field orientation correction method based on a pure proportional link provided by an embodiment of the present application
  • FIG. 4 is a schematic diagram of a magnetic field orientation correction method based on a proportional integral link provided by an embodiment of the present application
  • FIG. 5 is a schematic diagram of vector control of a permanent magnet synchronous motor with magnetic field orientation correction provided by an embodiment of the present application
  • FIG. 6 is a structural block diagram of a magnetic field orientation correction device for a permanent magnet synchronous motor disclosed in an embodiment of the application;
  • FIG. 7 is a structural block diagram of an electronic device disclosed in an embodiment of the present application.
  • the core of the present application is to provide a magnetic field orientation correction method, device, electronic device and computer-readable storage medium for a permanent magnet synchronous motor, so as to effectively improve the magnetic field orientation accuracy of the permanent magnet synchronous motor, thereby improving the accuracy of motor control.
  • Permanent magnet synchronous motor (Permanent Magnetic Synchronous Machine, PMSM) is a synchronous motor that uses permanent magnets to establish an excitation magnetic field.
  • the motor structure of the permanent magnet synchronous motor is relatively simple, so the processing and assembly costs are reduced, and the collector rings and brushes that are prone to problems are eliminated, which improves the reliability of the motor operation; and because there is no need for excitation current, there is no excitation loss. , thus effectively improving the efficiency and power density of the motor.
  • FIG. 1 is a topological structure diagram of a main circuit for driving a permanent magnet synchronous motor according to an embodiment of the present application.
  • Permanent magnet synchronous motor consists of stator, rotor and end cover and other components.
  • the stator generates a rotating magnetic field, and the rotor is made of permanent magnet material.
  • the stator is laminated by laminations to reduce the iron loss when the motor is running, and it is equipped with three-phase AC windings, called the armature.
  • the rotor can be made in solid form or it can be extruded from laminations with permanent magnet material on it.
  • the magnetomotive force generated by the current synthesizes a rotating magnetomotive force with a constant amplitude. Because of its constant amplitude, the trajectory of this rotating magnetomotive force forms a circle, which is called a circular rotating magnetomotive force.
  • the main magnetic field of the rotor and the rotating magnetic field generated by the circular rotating magnetomotive force of the stator remain relatively static.
  • the interaction of the two magnetic fields forms a composite magnetic field in the air gap between the stator and the rotor, which interacts with the main magnetic field of the rotor to generate an electromagnetic torque that pushes or hinders the rotation of the motor. Due to the difference in the positional relationship between the air-gap synthetic magnetic field and the rotor main magnetic field, the permanent magnet synchronous motor can run in either the motor state or the generator state.
  • the generated electromagnetic torque is opposite to the rotor rotation direction, and the motor is in the state of generating electricity; on the contrary, when the air gap composite magnetic field leads the rotor main magnetic field, the generated electromagnetic torque is the same as that of the rotor main magnetic field.
  • the rotor rotates in the same direction, and the motor is in an electric state at this time.
  • the angle between the rotor main magnetic field and the air gap composite magnetic field is called the power factor angle.
  • Vector control technology is a control method of permanent magnet synchronous motor that was born in the early 1970s.
  • the vector control system of the permanent magnet synchronous motor refers to the control strategy of the DC motor, and uses the coordinate transformation to decompose the collected three-phase stator current, flux and other vectors of the motor into two components according to the direction of the rotation vector of the rotor flux.
  • the excitation current and torque current are adjusted according to different control objectives, so as to achieve precise control of speed and torque, so that the control system can obtain good steady-state and dynamic response characteristics.
  • the position angle of the rotor magnetic field of the permanent magnet synchronous motor is an important parameter, which is the basis for the calculation of the transformation between the two-phase stationary coordinate system and the two-phase synchronous rotating coordinate system. Therefore, the accuracy of this parameter will be directly It is related to the control accuracy of the permanent magnet synchronous motor.
  • the present application provides a magnetic field orientation correction solution for a permanent magnet synchronous motor. By accurately correcting the rotor magnetic field position angle, the magnetic field orientation accuracy can be effectively improved, thereby helping to improve the motor control accuracy.
  • an embodiment of the present application discloses a magnetic field orientation correction method for a permanent magnet synchronous motor, which mainly includes:
  • S101 Calculate the first value of the power factor angle based on the current model of the permanent magnet synchronous motor.
  • S102 Calculate the second value of the power factor angle based on the instantaneous power model of the permanent magnet synchronous motor.
  • S103 Perform generalized PID calculation on the difference between the first value and the second value to obtain the deviation angle.
  • the first value of the power factor angle calculated in this application is obtained based on the steady-state voltage equation or current model of the permanent magnet synchronous motor.
  • the first value of the power factor angle mainly depends on the q-axis inductance of the motor, the rotor flux linkage and the motor current. Therefore, when the magnetic field orientation deviates, the deviation between the first value and the true value of the power factor angle is relatively small.
  • the second value of the power factor angle calculated in this application is obtained based on the instantaneous power model.
  • the orientation of the magnetic field there will be a large deviation between the two-phase static coordinate system and the physical coordinate, resulting in the two-phase static coordinate system.
  • There is also a large deviation in the voltage of the system which further causes a large deviation between the calculated second value of the power factor angle and the real value of the power factor angle.
  • the first value calculated according to the current model is used as the reference value
  • the second value calculated according to the instantaneous power model is used as the feedback value.
  • generalized PID adjustment is performed to obtain the deviation angle. , thus as the basis for the correction of the rotor magnetic field position angle, the correction value of the rotor magnetic field position angle is obtained.
  • the classical PID adjustment method is a commonly used closed-loop control method including a proportional element (P), an integral element (I) and a differential element (D), and on this basis By adjusting the presence or absence of each link, or adding some other control strategies (such as differential first, saturation limit, etc.), more kinds of generalized PID adjustment methods can be derived.
  • P proportional element
  • I integral element
  • D differential element
  • the correction value of the rotor magnetic field position angle participates in the vector control of the motor, the real-time output active power and reactive power of the motor change, and the second value of the power factor angle calculated according to the instantaneous power model also changes accordingly. Tracking of reference values. When the difference between the reference value and the feedback value is 0, it indicates that the magnetic field orientation correction is completed.
  • the magnetic field orientation correction method of the permanent magnet synchronous motor includes: calculating the first value of the power factor angle based on the current model of the permanent magnet synchronous motor; calculating the power factor angle based on the instantaneous power model of the permanent magnet synchronous motor The second value; perform generalized PID calculation on the difference between the first value and the second value to obtain the deviation angle; subtract the deviation angle from the detected value of the rotor magnetic field position angle to obtain the correction of the rotor magnetic field position angle value.
  • the magnetic field orientation correction method of the permanent magnet synchronous motor provided by this application accurately calculates the magnetic field orientation deviation based on the power factor angle calculated in different ways, and then accurately corrects the rotor magnetic field position angle of the permanent magnet synchronous motor , thereby improving the accuracy of magnetic field orientation.
  • the vector control of the motor based on the calibrated results can effectively reduce the current loss of the motor and improve the output torque and motor operating efficiency of the motor under unit current.
  • the steady-state voltage equation of the permanent magnet synchronous motor that is, the current model is specifically:
  • ud and u q are the d-axis voltage and q-axis voltage in the two-phase synchronous rotating coordinate system, respectively;
  • R s is the stator resistance;
  • L d and L q are the d-axis inductance and q-axis in the two-phase synchronous rotating coordinate system, respectively.
  • q-axis inductance; ⁇ r is the rotor flux linkage;
  • ⁇ is the rotor speed (synchronous speed);
  • id and i q are the d -axis current and q-axis current in the two-phase synchronous rotating coordinate system, respectively.
  • ⁇ is the first value of the power factor angle
  • ⁇ is the rotor speed
  • L d , L q are the d -axis inductance and q-axis inductance in the two-phase synchronous rotation coordinate system, respectively
  • id , i q are the two-phase synchronous rotation coordinates, respectively d-axis current and q-axis current under the system
  • E 0 ⁇ r is the no-load back electromotive force
  • ⁇ r is the rotor flux linkage.
  • the magnetic field orientation correction method of the permanent magnet synchronous motor calculates the second value of the power factor angle based on the instantaneous power model of the permanent magnet synchronous motor on the basis of the above content, including :
  • ⁇ is the second value of the power factor angle
  • P is the active power
  • Q is the reactive power
  • u ⁇ and u ⁇ are the ⁇ -axis voltage and ⁇ -axis voltage in the two-phase static coordinate system, respectively
  • i ⁇ , i ⁇ are the ⁇ -axis current and ⁇ -axis current in the two-phase stationary coordinate system, respectively.
  • the second value of the power factor angle can also be calculated based on the parameters in the two-phase synchronous rotating coordinate system:
  • the magnetic field orientation correction method of the permanent magnet synchronous motor provided by the embodiment of the present application is based on the above content, and performs generalized PID calculation on the difference between the first value and the second value to obtain Deviation angle, including:
  • a pure proportional P calculation formula or a proportional plus integral PI calculation formula is used to calculate the deviation angle based on the difference between the first value and the second value.
  • this embodiment provides two specific generalized PID adjustment methods, including pure proportional P adjustment and proportional plus integral PI adjustment.
  • pure proportional P adjustment and proportional plus integral PI adjustment.
  • those skilled in the art can also adopt other generalized PID control methods.
  • the magnetic field orientation correction method of the permanent magnet synchronous motor provided by the embodiment of the present application is based on the above content, and performs generalized PID calculation on the difference between the first value and the second value to obtain Deviation angle, including:
  • the result of the generalized PID calculation is low-pass filtered to obtain the deviation angle.
  • LPF Low-Pass Filter
  • FIG. 3 is a schematic diagram of a method for calibrating magnetic field orientation based on pure proportional links according to an embodiment of the present application.
  • ⁇ ' is the difference between the first value of the power factor angle minus the second value
  • Kp is the PID controller that only includes the pure proportional link
  • ⁇ ' is the control amount calculated by the generalized PID
  • ⁇ is the filtered The resulting deviation angle.
  • Fig. 4 is a schematic diagram of a method for calibrating magnetic field orientation based on a proportional integral element provided by an embodiment of the present application.
  • ⁇ ' is the difference between the first value of the power factor angle minus the second value
  • PI is the PID controller including the proportional link and the integral link
  • ⁇ ' is the control amount calculated by the generalized PID
  • ⁇ is the filter Then the deviation angle is obtained.
  • the magnetic field orientation correction method of the permanent magnet synchronous motor provided by the embodiment of the present application is based on the above content, and the acquisition process of the detected value of the rotor magnetic field position angle includes:
  • the detected value of the rotor magnetic field position angle is obtained based on the encoder detection; or, based on the algorithm without a speed observer, the detected value of the rotor magnetic field position angle is obtained by calculating according to the voltage value and the current value.
  • FIG. 5 is a schematic diagram of vector control of a permanent magnet synchronous motor with magnetic field orientation correction according to an embodiment of the present application.
  • the method provided in this application is not only applicable to vector control with encoder, but also applicable to vector control without speed sensor.
  • the rotor magnetic field position angle can be obtained from a mechanical sensor such as an encoder to obtain the detection value ⁇ ; when no speed sensor is configured, the detection value ⁇ can be calculated and obtained according to the algorithm without a speed observer based on the voltage and current information.
  • the deviation angle ⁇ can be subtracted from the detection value ⁇ to obtain the rotor magnetic field position angle
  • the correction value ⁇ * is involved in the vector control of the permanent magnet synchronous motor.
  • an embodiment of the present application discloses a magnetic field orientation correction device for a permanent magnet synchronous motor, which mainly includes:
  • the calculation module 201 is used to calculate the first value of the power factor angle based on the current model of the permanent magnet synchronous motor; calculate the second value of the power factor angle based on the instantaneous power model of the permanent magnet synchronous motor;
  • a difference module 202 configured to perform generalized PID calculation on the difference between the first value and the second value to obtain the deviation angle
  • the correction module 203 is configured to subtract the deviation angle from the detected value of the rotor magnetic field position angle to obtain a correction value of the rotor magnetic field position angle.
  • the magnetic field orientation correction device of the permanent magnet synchronous motor disclosed in the embodiment of the present application accurately calculates the magnetic field orientation deviation based on the power factor angle calculated in different ways, and then the rotor magnetic field position angle of the permanent magnet synchronous motor is calculated. Precise correction, thus improving the accuracy of magnetic field orientation.
  • the vector control of the motor based on the calibrated results can effectively reduce the current loss of the motor and improve the output torque and motor operating efficiency of the motor under unit current.
  • ⁇ is the first value of the power factor angle
  • ⁇ is the rotor speed
  • L d , L q are the d -axis inductance and q-axis inductance in the two-phase synchronous rotation coordinate system, respectively
  • id , i q are the two-phase synchronous rotation coordinates, respectively d-axis current and q-axis current under the system
  • E 0 ⁇ r is the no-load back electromotive force
  • ⁇ r is the rotor flux linkage.
  • the magnetic field orientation correction device of the permanent magnet synchronous motor disclosed in the embodiment of the present application is based on the above content, and the calculation module 201 calculates the second power factor angle based on the instantaneous power model of the permanent magnet synchronous motor.
  • the calculation module 201 calculates the second power factor angle based on the instantaneous power model of the permanent magnet synchronous motor.
  • ⁇ is the second value of the power factor angle
  • P is the active power
  • Q is the reactive power
  • u ⁇ and u ⁇ are the ⁇ -axis voltage and ⁇ -axis voltage in the two-phase static coordinate system, respectively
  • i ⁇ , i ⁇ are the ⁇ -axis current and ⁇ -axis current in the two-phase stationary coordinate system, respectively.
  • the magnetic field orientation correction device of the permanent magnet synchronous motor disclosed in the embodiment of the present application is based on the above content, and the difference module 202 performs the difference value of the first value minus the second value.
  • generalized PID is calculated to obtain the deviation angle, it is specifically used for:
  • the magnetic field orientation correction device of the permanent magnet synchronous motor disclosed in the embodiment of the present application is based on the above content, and the difference module 202 performs the difference value of the first value minus the second value.
  • generalized PID is calculated to obtain the deviation angle, it is specifically used for:
  • a pure proportional P calculation formula or a proportional plus integral PI calculation formula is used to calculate the deviation angle based on the difference between the first value and the second value.
  • the magnetic field orientation correction device of the permanent magnet synchronous motor disclosed in the embodiment of the present application is based on the above content, and when the correction module 203 obtains the detected value of the rotor magnetic field position angle, it is specifically used for:
  • the detected value of the rotor magnetic field position angle is obtained based on the encoder detection; or, based on the algorithm without a speed observer, the detected value of the rotor magnetic field position angle is obtained by calculating according to the voltage value and the current value.
  • an electronic device including:
  • the processor 302 is configured to execute the computer program to implement the steps of any of the above-mentioned magnetic field orientation correction methods for permanent magnet synchronous motors.
  • an embodiment of the present application also discloses a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program is used to implement any of the above when executed by a processor. Steps of a field orientation correction method for a permanent magnet synchronous motor.

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Abstract

一种永磁同步电机的磁场定向校正方法、装置、电子设备及计算机可读存储介质，该方法包括：基于永磁同步电机的电流模型计算功率因数角的第一取值；基于永磁同步电机的瞬时功率模型计算功率因数角的第二取值；对所述第一取值减去所述第二取值的差值进行广义PID计算，以获取偏差角；将转子磁场位置角的检测值减去所述偏差角，以获取转子磁场位置角的校正值。本申请基于不同方式计算得到的功率因数角，准确计算出了磁场定向偏差，进而对永磁同步电机的转子磁场位置角进行了精确校正，从而提高了磁场定向精确度。基于校准后的结果对电机进行矢量控制，可有效降低电机的电流损耗，提高电机在单位电流下的输出转矩和电机运行效率。

Description

永磁同步电机的磁场定向校正方法、装置、设备及介质 技术领域
本申请涉及变频器控制技术领域，特别涉及一种永磁同步电机的磁场定向校正方法、装置、电子设备及计算机可读存储介质。
背景技术
永磁同步电机具有体积小、功率密度高、功率因数高、高效节能、机械特性硬、启动转矩大、调速范围宽等优点，受到工业、军工、新能源发电、新能源汽车、智能家居、轨道牵引、无人机等众多领域的关注和广泛应用。
基于转子磁场定向的永磁同步电机控制中，算法参数、电机参数、温度、负载变化等因素，都会降低磁场定向的准确性。在磁场定向出现偏差之后，电机的定子电流增加，电机损耗增大，电机发热严重，电机的输出转矩及工作效率都会下降。
近年来，对于无速度传感器算法的研究很多，但很少有文献提到磁场定向偏差校正的问题，随着永磁同步电机控制的逐渐成熟，对电机效率、转矩控制精度等性能的要求不断提高，而基于转子磁场定向的矢量控制中，这些性能都和磁场定向的准确性相关。因此，如何对永磁同步电机的磁场定向进行准确的校正，已经成为提升矢量控制性能的技术关键和技术难题。
发明内容
本申请的目的在于提供一种永磁同步电机的磁场定向校正方法、装置、电子设备及计算机可读存储介质，以便有效提高永磁同步电机的磁场定向精确度，进而提高电机控制的精确度。
为解决上述技术问题，一方面，本申请公开了一种永磁同步电机的磁场定向校正方法，包括：
基于永磁同步电机的电流模型计算功率因数角的第一取值；
基于永磁同步电机的瞬时功率模型计算功率因数角的第二取值；
对所述第一取值减去所述第二取值的差值进行广义PID计算，以获取偏差角；
将转子磁场位置角的检测值减去所述偏差角，以获取转子磁场位置角的校正值。
可选地，若所述永磁同步电机不采用i d＝0的控制方式，则所述基于永磁同步电机的电流模型计算功率因数角的第一取值，包括：
根据如下公式计算功率因数角的第一取值：
Figure PCTCN2020135534-appb-000001
其中，
Figure PCTCN2020135534-appb-000002
为功率因数角的第一取值；ω为转子转速；L d、L q分别为两相同步旋转坐标系下的d轴电感、q轴电感；i d、i q分别为两相同步旋转坐标系下的d轴电流、q轴电流；E 0＝ωψ r为空载反电动势；ψ r为转子磁链。
可选地，若所述永磁同步电机采用i d＝0的控制方式，则所述基于永磁同步电机的电流模型计算功率因数角的第一取值，包括：
根据如下公式计算功率因数角的第一取值：
Figure PCTCN2020135534-appb-000003
可选地，所述基于永磁同步电机的瞬时功率模型计算功率因数角的第二取值，包括：
根据如下公式计算功率因数角的第二取值：
Figure PCTCN2020135534-appb-000004
其中，γ为功率因数角的第二取值；P为有功功率；Q为无功功率；u α、u β分别为两相静止坐标系下的α轴电压、β轴电压；i α、i β分别为两相静止坐标系下的α轴电流、β轴电流。
可选地，所述对所述第一取值减去所述第二取值的差值进行广义PID计算以获取偏差角，包括：
对所述第一取值减去所述第二取值的差值进行广义PID计算；
对广义PID计算的结果进行低通滤波以获取所述偏差角。
可选地，所述对所述第一取值减去所述第二取值的差值进行广义PID计算以获取偏差角，包括：
采用纯比例的P计算式或者比例加积分的PI计算式，基于所述第一取值减去所述第二取值的差值计算所述偏差角。
可选地，所述转子磁场位置角的检测值的获取过程包括：
基于编码器检测获取转子磁场位置角的所述检测值；或者，基于无速度观测器算法，根据电压值和电流值计算获取转子磁场位置角的所述检测值。
又一方面，本申请提供了一种永磁同步电机的磁场定向校正装置，包括：
计算模块，用于基于永磁同步电机的电流模型计算功率因数角的第一取值；基于永磁同步电机的瞬时功率模型计算功率因数角的第二取值；
作差模块，用于对所述第一取值减去所述第二取值的差值进行广义PID计算，以获取偏差角；
校正模块，用于将转子磁场位置角的检测值减去所述偏差角，以获取转子磁场位置角的校正值。
又一方面，本申请还公开了一种电子设备，包括：
存储器，用于存储计算机程序；
处理器，用于执行所述计算机程序以实现如上所述的任一种永磁同步电机的磁场定向校正方法的步骤。
又一方面，本申请还公开了一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序，所述计算机程序被处理器执行时用以实现如上所述的任一种永磁同步电机的磁场定向校正方法的步骤。
本申请所提供的永磁同步电机的磁场定向校正方法包括：基于永磁同步电机的电流模型计算功率因数角的第一取值；基于永磁同步电机的瞬时功率模型计算功率因数角的第二取值；对所述第一取值减去所述第二取值的差值进行广义PID计算，以获取偏差角；将转子磁场位置角的检测值减去所述偏差角，以获取转子磁场位置角的校正值。
本申请所提供的永磁同步电机的磁场定向校正方法、装置、电子设备及计算机可读存储介质所具有的有益效果是：本申请基于不同方式计算得到的功率因数角，准确计算出了磁场定向偏差，进而对永磁同步电机的转子磁场位置角进行了精确校正，从而提高了磁场定向精确度。基于校准后的结果对电机进行矢量控制，可有效降低电机的电流损耗，提高电机在单位电流下的输出转矩和电机运行效率。
附图说明
为了更清楚地说明现有技术和本申请实施例中的技术方案，下面将对现有技术和本申请实施例描述中需要使用的附图作简要的介绍。当然，下面有关本申请实施例的附图描述的仅仅是本申请中的一部分实施例，对于本领域普通技术人员来说，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图，所获得的其他附图也属于本申请的保护范围。
图1为本申请实施例提供的一种驱动永磁同步电机的主电路拓扑结构图；
图2为本申请实施例公开的一种永磁同步电机的磁场定向校正方法的流程图；
图3为本申请实施例提供的一种基于纯比例环节的磁场定向校正方法的示意图；
图4为本申请实施例提供的一种基于比例积分环节的磁场定向校正方法的示意图；
图5为本申请实施例提供的一种带有磁场定向校正的永磁同步电机矢量控制示意图；
图6为本申请实施例公开的一种永磁同步电机的磁场定向校正装置的结构框图；
图7为本申请实施例公开的一种电子设备的结构框图。
具体实施方式
本申请的核心在于提供一种永磁同步电机的磁场定向校正方法、装置、 电子设备及计算机可读存储介质，以便有效提高永磁同步电机的磁场定向精确度，进而提高电机控制的精确度。
为了对本申请实施例中的技术方案进行更加清楚、完整地描述，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行介绍。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
永磁同步电机(Permanent Magnetic Synchronous Machine，PMSM)是利用永磁体建立励磁磁场的同步电机。永磁同步电机的电动机结构较为简单，因此降低了加工和装配费用，并省去了容易出问题的集电环和电刷，提高了电动机运行的可靠性；又因无需励磁电流，没有励磁损耗，因此也有效提高了电动机的效率和功率密度。
永磁同步电机在诸多领域内应用广泛。参见图1，图1为本申请实施例提供的一种驱动永磁同步电机的主电路拓扑结构图。
永磁同步电机由定子、转子和端盖等部件构成。其定子产生旋转磁场，转子用永磁材料制成。定子由叠片叠压而成以减少电动机运行时产生的铁耗，其中装有三相交流绕组，称作电枢。转子可以制成实心的形式，也可以由叠片压制而成，其上装有永磁体材料。
当三相电流通入永磁同步电机定子的三相对称绕组中时，电流产生的磁动势合成一个幅值大小不变的旋转磁动势。由于其幅值大小不变，这个旋转磁动势的轨迹便形成一个圆，称为圆形旋转磁动势。
由于永磁同步电机的转速恒为同步转速，因此转子主磁场和定子圆形旋转磁动势产生的旋转磁场保持相对静止。两个磁场相互作用，在定子与转子之间的气隙中形成一个合成磁场，它与转子主磁场发生相互作用，产生了一个推动或者阻碍电机旋转的电磁转矩。因气隙合成磁场与转子主磁场位置关系的不同，永磁同步电机既可以运行于电动机状态也可以运行于发电机状态。
当气隙合成磁场滞后于转子主磁场时，产生的电磁转矩与转子旋转方向相反，这时电机处于发电状态；相反，当气隙合成磁场超前于转子主磁 场时，产生的电磁转矩与转子旋转方向相同，这时电机处于电动状态。转子主磁场与气隙合成磁场之间的夹角称为功率因数角。
矢量控制技术是诞生于上世纪70年代初的一种永磁同步电机的控制方式。永磁同步电机的矢量控制系统参照了直流电机的控制策略，利用坐标变换将采集到的电机三相定子电流、磁链等矢量按照转子磁链这一旋转矢量的方向分解成两个分量，一个沿着转子磁链方向，称为直轴(d轴)励磁电流；另一个正交于转子磁链方向，称为交轴(q轴)转矩电流。根据不同的控制目标调节励磁电流和转矩电流，进而实现对速度和转矩的精确控制，使控制系统获得良好的稳态和动态响应特性。
永磁同步电机中常见的矢量控制算法可以分为以下几种：id＝0控制方式、最大转矩/电流控制方式、单位功率因数控制方式等。这些性能指标均可以通过对直轴励磁电流和交轴转矩电流的独立控制来实现。
在矢量控制过程中，永磁同步电机的转子磁场位置角是一个重要参数，它是两相静止坐标系与两相同步旋转坐标系之间的变换计算依据，因此，该参数的精准度将直接关系到永磁同步电机的控制精确度。为此，本申请提供了一套永磁同步电机的磁场定向校正方案，通过对转子磁场位置角进行精确校正，可有效提高磁场定向精准度，进而帮助提高电机控制精确度。
参见图2所示，本申请实施例公开了一种永磁同步电机的磁场定向校正方法，主要包括：
S101：基于永磁同步电机的电流模型计算功率因数角的第一取值。
S102：基于永磁同步电机的瞬时功率模型计算功率因数角的第二取值。
S103：对第一取值减去第二取值的差值进行广义PID计算，以获取偏差角。
S104：将转子磁场位置角的检测值减去偏差角，以获取转子磁场位置角的校正值。
容易理解的是，在定向准确的情况下，两种方式计算得到的功率因数角的第一取值与第二取值是相等的。但是，在磁场定向不准的情况下，两个取值间存在差异。
具体地，本申请所计算的功率因数角的第一取值，是基于永磁同步电 机的稳态电压方程或者说是电流模型得到的。功率因数角的第一取值主要取决于电机的q轴电感、转子磁链和电机电流，因此，当磁场定向出现偏差时，第一取值与功率因数角真实值的偏差相对较小。
而本申请所计算的功率因数角的第二取值，是基于瞬时功率模型而得到的，在磁场定向出现偏差时，两相静止坐标系与物理坐标将出现较大偏差，导致两相静止坐标系的电压也出现较大偏差，进而使得计算出来的功率因数角的第二取值与功率因数角真实值产生较大偏差。
由此，本申请以根据电流模型计算得到的第一取值为参考值，以根据瞬时功率模型计算得到的第二取值为反馈值，经作差计算后再进行广义PID调节，得到偏差角，由此作为对转子磁场位置角的校正依据，得到转子磁场位置角的校正值。
其中，本领域技术人员容易理解的是，经典PID调节方法是包含了比例环节(P)、积分环节(I)和微分环节(D)在内的一种常用闭环控制方法，而在此基础上通过调整各环节的有无，或增加一些其他控制策略(如微分先行、饱和限定等)，可衍生出种类更多的广义PID调节方法，本领域技术人员可根据实际应用需要而自行选择，本申请对此并不进行限定。
当转子磁场位置角的校正值参与电机的矢量控制之后，电机实时输出的有功功率、无功功率发生变化，依据瞬时功率模型计算得到的功率因数角的第二取值也随之发生变化，实现对参考值的跟踪。当参考值与反馈值的作差结果为0时，表示磁场定向校正完成。
本申请实施例所提供的永磁同步电机的磁场定向校正方法包括：基于永磁同步电机的电流模型计算功率因数角的第一取值；基于永磁同步电机的瞬时功率模型计算功率因数角的第二取值；对第一取值减去第二取值的差值进行广义PID计算，以获取偏差角；将转子磁场位置角的检测值减去偏差角，以获取转子磁场位置角的校正值。
可见，本申请所提供的永磁同步电机的磁场定向校正方法，基于不同方式计算得到的功率因数角，准确计算出了磁场定向偏差，进而对永磁同步电机的转子磁场位置角进行了精确校正，从而提高了磁场定向精确度。基于校准后的结果对电机进行矢量控制，可有效降低电机的电流损耗，提 高电机在单位电流下的输出转矩和电机运行效率。
具体地，在两相同步旋转坐标系下，永磁同步电机的稳态电压方程即电流模型具体为：
Figure PCTCN2020135534-appb-000005
其中，u d、u q分别为两相同步旋转坐标系下的d轴电压、q轴电压；R s为定子电阻；L d、L q分别为两相同步旋转坐标系下的d轴电感、q轴电感；ψ r为转子磁链；ω为转子转速(同步转速)；i d、i q分别为两相同步旋转坐标系下的d轴电流、q轴电流。
因此，在上述内容的基础上，若永磁同步电机采用i d＝0的控制方式，结合相量图，可得到：
Figure PCTCN2020135534-appb-000006
其中，E 0＝ωψ r为空载反电动势。考虑到i d＝0时，i q即为全部电流I，即
Figure PCTCN2020135534-appb-000007
所以，此时功率因数角的第一取值的计算公式可表示为：
Figure PCTCN2020135534-appb-000008
而若在上述内容的基础上，永磁同步电机不采用i d＝0的控制方式，则结合向量图，可得到功率因数角的第一取值的计算公式为：
Figure PCTCN2020135534-appb-000009
其中，
Figure PCTCN2020135534-appb-000010
为功率因数角的第一取值；ω为转子转速；L d、L q分别为两相同步旋转坐标系下的d轴电感、q轴电感；i d、i q分别为两相同步旋转坐标系下的d轴电流、q轴电流；E 0＝ωψ r为空载反电动势；ψ r为转子磁链。
作为一种具体实施例，本申请实施例所提供的永磁同步电机的磁场定向校正方法在上述内容的基础上，基于永磁同步电机的瞬时功率模型计算功率因数角的第二取值，包括：
根据如下公式计算功率因数角的第二取值：
Figure PCTCN2020135534-appb-000011
其中，γ为功率因数角的第二取值；P为有功功率；Q为无功功率；u α、u β分别为两相静止坐标系下的α轴电压、β轴电压；i α、i β分别为两相静止坐标系下的α轴电流、β轴电流。
或者，类似地，功率因数角的第二取值也可基于两相同步旋转坐标系下的参数进行计算：
Figure PCTCN2020135534-appb-000012
作为一种具体实施例，本申请实施例所提供的永磁同步电机的磁场定向校正方法在上述内容的基础上，对第一取值减去第二取值的差值进行广义PID计算以获取偏差角，包括：
采用纯比例的P计算式或者比例加积分的PI计算式，基于第一取值减去第二取值的差值计算偏差角。
具体的，本实施例提供了两种具体的广义PID调节方法，包括纯比例的P调节和比例加积分的PI调节。当然，本领域技术人员也可采用其他广义PID控制方法。
作为一种具体实施例，本申请实施例所提供的永磁同步电机的磁场定向校正方法在上述内容的基础上，对第一取值减去第二取值的差值进行广义PID计算以获取偏差角，包括：
对第一取值减去第二取值的差值进行广义PID计算；
对广义PID计算的结果进行低通滤波以获取偏差角。
具体地，低通滤波器((Low-Pass Filter，LPF)的设计可进一步提高数据精确度。LPF的截止频率可以根据实际情况选取。
参见图3，图3为本申请实施例提供的一种基于纯比例环节的磁场定向校正方法的示意图。其中，δ′为功率因数角的第一取值减去第二取值后的差值；Kp为仅包括纯比例环节的PID控制器；Δθ′为广义PID计算的控制量；Δθ为滤波后得到的偏差角。
参见图4，图4为本申请实施例提供的一种基于比例积分环节的磁场 定向校正方法的示意图。其中，δ′为功率因数角的第一取值减去第二取值后的差值；PI为包括比例环节和积分环节的PID控制器；Δθ′为广义PID计算的控制量；Δθ为滤波后得到的偏差角。
作为一种具体实施例，本申请实施例所提供的永磁同步电机的磁场定向校正方法在上述内容的基础上，转子磁场位置角的检测值的获取过程包括：
基于编码器检测获取转子磁场位置角的检测值；或者，基于无速度观测器算法，根据电压值和电流值计算获取转子磁场位置角的检测值。
参见图5，图5为本申请实施例提供的一种带有磁场定向校正的永磁同步电机矢量控制示意图。
需要说明的是，本申请所提供的方法不仅适用于带有编码器的矢量控制，同时也适用于无速度传感器的矢量控制。当配置有速度传感器时，转子磁场位置角可由编码器等机械传感器获取检测值θ；当没有配置速度传感器时，可基于电压电流信息根据无速度观测器算法计算获取检测值θ。
如图5所示，在获取到转子磁场位置角的检测值θ，并基于上述任一实施例获取到偏差角Δθ后，便可将检测值θ减去偏差角Δθ，得到转子磁场位置角的校正值θ *，参与对永磁同步电机的矢量控制。
参见图6所示，本申请实施例公开了一种永磁同步电机的磁场定向校正装置，主要包括：
计算模块201，用于基于永磁同步电机的电流模型计算功率因数角的第一取值；基于永磁同步电机的瞬时功率模型计算功率因数角的第二取值；
作差模块202，用于对第一取值减去第二取值的差值进行广义PID计算，以获取偏差角；
校正模块203，用于将转子磁场位置角的检测值减去偏差角，以获取转子磁场位置角的校正值。
可见，本申请实施例所公开的永磁同步电机的磁场定向校正装置，基于不同方式计算得到的功率因数角，准确计算出了磁场定向偏差，进而对永磁同步电机的转子磁场位置角进行了精确校正，从而提高了磁场定向精 确度。基于校准后的结果对电机进行矢量控制，可有效降低电机的电流损耗，提高电机在单位电流下的输出转矩和电机运行效率。
关于上述永磁同步电机的磁场定向校正装置的具体内容，可参考前述关于永磁同步电机的磁场定向校正方法的详细介绍，这里就不再赘述。
作为一种具体实施例，本申请实施例所公开的永磁同步电机的磁场定向校正装置在上述内容的基础上，若永磁同步电机不采用i d＝0的控制方式，则计算模块201在基于永磁同步电机的电流模型计算功率因数角的第一取值时，具体用于：
根据如下公式计算功率因数角的第一取值：
Figure PCTCN2020135534-appb-000013
其中，
Figure PCTCN2020135534-appb-000014
为功率因数角的第一取值；ω为转子转速；L d、L q分别为两相同步旋转坐标系下的d轴电感、q轴电感；i d、i q分别为两相同步旋转坐标系下的d轴电流、q轴电流；E 0＝ωψ r为空载反电动势；ψ r为转子磁链。
作为一种具体实施例，本申请实施例所公开的永磁同步电机的磁场定向校正装置在上述内容的基础上，若永磁同步电机采用i d＝0的控制方式，则计算模块201在基于永磁同步电机的电流模型计算功率因数角的第一取值时，具体用于：
根据如下公式计算功率因数角的第一取值：
Figure PCTCN2020135534-appb-000015
作为一种具体实施例，本申请实施例所公开的永磁同步电机的磁场定向校正装置在上述内容的基础上，计算模块201在基于永磁同步电机的瞬时功率模型计算功率因数角的第二取值时，具体用于：
根据如下公式计算功率因数角的第二取值：
Figure PCTCN2020135534-appb-000016
其中，γ为功率因数角的第二取值；P为有功功率；Q为无功功率；u α、 u β分别为两相静止坐标系下的α轴电压、β轴电压；i α、i β分别为两相静止坐标系下的α轴电流、β轴电流。
作为一种具体实施例，本申请实施例所公开的永磁同步电机的磁场定向校正装置在上述内容的基础上，作差模块202在对第一取值减去第二取值的差值进行广义PID计算以获取偏差角时，具体用于：
对第一取值减去第二取值的差值进行广义PID计算；对广义PID计算的结果进行低通滤波以获取偏差角。
作为一种具体实施例，本申请实施例所公开的永磁同步电机的磁场定向校正装置在上述内容的基础上，作差模块202在对第一取值减去第二取值的差值进行广义PID计算以获取偏差角时，具体用于：
采用纯比例的P计算式或者比例加积分的PI计算式，基于第一取值减去第二取值的差值计算偏差角。
作为一种具体实施例，本申请实施例所公开的永磁同步电机的磁场定向校正装置在上述内容的基础上，校正模块203在获取转子磁场位置角的检测值时，具体用于：
基于编码器检测获取转子磁场位置角的检测值；或者，基于无速度观测器算法，根据电压值和电流值计算获取转子磁场位置角的检测值。
参见图7所示，本申请实施例公开了一种电子设备，包括：
存储器301，用于存储计算机程序；
处理器302，用于执行所述计算机程序以实现如上所述的任一种永磁同步电机的磁场定向校正方法的步骤。
进一步地，本申请实施例还公开了一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序，所述计算机程序被处理器执行时用以实现如上所述的任一种永磁同步电机的磁场定向校正方法的步骤。
关于上述电子设备和计算机可读存储介质的具体内容，可参考前述关于永磁同步电机的磁场定向校正方法的详细介绍，这里就不再赘述。
本申请中各个实施例采用递进的方式描述，每个实施例重点说明的都 是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的设备而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处参见方法部分说明即可。
还需说明的是，在本申请文件中，诸如“第一”和“第二”之类的关系术语，仅仅用来将一个实体或者操作与另一个实体或者操作区分开来，而不一定要求或者暗示这些实体或者操作之间存在任何这种实际的关系或者顺序。此外，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本申请所提供的技术方案进行了详细介绍。本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本申请原理的前提下，还可以对本申请进行若干改进和修饰，这些改进和修饰也落入本申请的保护范围内。

Claims (10)

  1. 一种永磁同步电机的磁场定向校正方法，其特征在于，包括：
    基于永磁同步电机的电流模型计算功率因数角的第一取值；
    基于永磁同步电机的瞬时功率模型计算功率因数角的第二取值；
    对所述第一取值减去所述第二取值的差值进行广义PID计算，以获取偏差角；
    将转子磁场位置角的检测值减去所述偏差角，以获取转子磁场位置角的校正值。
  2. 根据权利要求1所述的永磁同步电机的磁场定向校正方法，其特征在于，若所述永磁同步电机不采用i d＝0的控制方式，则所述基于永磁同步电机的电流模型计算功率因数角的第一取值，包括：
    根据如下公式计算功率因数角的第一取值：
    Figure PCTCN2020135534-appb-100001
    其中，
    Figure PCTCN2020135534-appb-100002
    为功率因数角的第一取值；ω为转子转速；L d、L q分别为两相同步旋转坐标系下的d轴电感、q轴电感；i d、i q分别为两相同步旋转坐标系下的d轴电流、q轴电流；E 0＝ωψ r为空载反电动势；ψ r为转子磁链。
  3. 根据权利要求2所述的永磁同步电机的磁场定向校正方法，其特征在于，若所述永磁同步电机采用i d＝0的控制方式，则所述基于永磁同步电机的电流模型计算功率因数角的第一取值，包括：
    根据如下公式计算功率因数角的第一取值：
    Figure PCTCN2020135534-appb-100003
  4. 根据权利要求1所述的永磁同步电机的磁场定向校正方法，其特征在于，所述基于永磁同步电机的瞬时功率模型计算功率因数角的第二取值，包括：
    根据如下公式计算功率因数角的第二取值：
    Figure PCTCN2020135534-appb-100004
    其中，γ为功率因数角的第二取值；P为有功功率；Q为无功功率；u α、u β分别为两相静止坐标系下的α轴电压、β轴电压；i α、i β分别为两相静止坐标系下的α轴电流、β轴电流。
  5. 根据权利要求1所述的永磁同步电机的磁场定向校正方法，其特征在于，所述对所述第一取值减去所述第二取值的差值进行广义PID计算以获取偏差角，包括：
    对所述第一取值减去所述第二取值的差值进行广义PID计算；
    对广义PID计算的结果进行低通滤波以获取所述偏差角。
  6. 根据权利要求1至5任一项所述的永磁同步电机的磁场定向校正方法，其特征在于，所述对所述第一取值减去所述第二取值的差值进行广义PID计算以获取偏差角，包括：
    采用纯比例的P计算式或者比例加积分的PI计算式，基于所述第一取值减去所述第二取值的差值计算所述偏差角。
  7. 根据权利要求6所述的永磁同步电机的磁场定向校正方法，其特征在于，所述转子磁场位置角的检测值的获取过程包括：
    基于编码器检测获取转子磁场位置角的所述检测值；或者，基于无速度观测器算法，根据电压值和电流值计算获取转子磁场位置角的所述检测值。
  8. 一种永磁同步电机的磁场定向校正装置，其特征在于，包括：
    计算模块，用于基于永磁同步电机的电流模型计算功率因数角的第一取值；基于永磁同步电机的瞬时功率模型计算功率因数角的第二取值；
    作差模块，用于对所述第一取值减去所述第二取值的差值进行广义PID计算，以获取偏差角；
    校正模块，用于将转子磁场位置角的检测值减去所述偏差角，以获取转子磁场位置角的校正值。
  9. 一种电子设备，其特征在于，包括：
    存储器，用于存储计算机程序；
    处理器，用于执行所述计算机程序以实现如权利要求1至7任一项所述的永磁同步电机的磁场定向校正方法的步骤。
  10. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机程序，所述计算机程序被处理器执行时用以实现如权利要求1至7任一项所述的永磁同步电机的磁场定向校正方法的步骤。
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