CN112886899B - Self-control method and device for winding unit of N x 3 phase permanent magnet synchronous motor - Google Patents

Abstract

The invention discloses a method and a device for self-controlling a winding unit of an N*3-phase permanent magnet synchronous motor, including a mathematical model for the existing multi-d-q coordinate transformation and VSD vector space decoupling transformation. Due to the problems of strong inter-coupling, complex control, inability to use with three-phase permanent magnet motors, and poor portability, the present invention decouples the equivalent transformation of N*3-phase permanent magnet synchronous motors into n equivalently independent three-phase permanent magnet synchronous motors. Motor model; the motor parameters of each three-phase permanent magnet synchronous motor model are obtained by the motor online parameter identification method; the winding unit of the N*3-phase permanent magnet synchronous motor is automatically controlled according to the three-phase permanent magnet synchronous motor model and motor parameters. The present invention does not need real-time data communication between control units, can continue to use the three-phase permanent magnet motor control algorithm, has strong expansibility, and can realize completely independent control of each three-phase winding unit.

Description

A kind of N*3 phase permanent magnet synchronous motor winding unit self-control method and device

technical field

The invention relates to an N*3-phase permanent magnet synchronous motor control technology, in particular to an N*3-phase permanent magnet synchronous motor winding unit self-control method and device.

Background technique

Compared with the three-phase permanent magnet synchronous motor drive system, the N*3-phase permanent magnet synchronous motor has many advantages. For example, in the case where the supply voltage is limited, the N*3-phase motor drive system is an effective way to solve the problem of low voltage and high power; As the number of motor phases increases, the output torque ripple is small, and the ripple frequency increases, so the low-speed characteristics of the drive system are greatly improved, and the vibration and noise will be reduced; due to the redundancy of the number of phases, the overall reliability of the system is improved. Based on the advantages of the above-mentioned N*3-phase permanent magnet synchronous motor, it is widely used in high-power and high-reliability occasions such as ship electric propulsion, electric vehicle drive, aerospace, and wind power generation. As the number of motor phases increases, the centralized control architecture will reduce the modularity of the system and the flexibility of system configuration. Using a distributed control architecture based on each three-phase winding unit can make each stator three-phase winding composed of The control by the corresponding controller can not only avoid these problems to a certain extent, but also improve the maintainability and reliability of the system. However, the distributed control currently studied requires each sub-controller to exchange data in real time through a high-speed network. Once the high-speed network system fails, the system will stop running. Therefore, it is extremely important to study the self-control method of N*3-phase permanent magnet synchronous motor winding unit.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention: for the existing mathematical models of multi-d-q coordinate transformation and VSD vector space decoupling transformation, there are strong coupling between three-phase winding units, complicated control, and cannot be used in common with three-phase permanent magnet motors. In order to solve the problems of poor portability and other problems, a method and device for self-controlling N*3-phase permanent magnet synchronous motor winding units are provided. The present invention does not require real-time data communication between control units, and can continue to use the three-phase permanent magnet motor control algorithm, with strong scalability. Fully independent control of each three-phase winding unit can be achieved.

In order to solve the above-mentioned technical problems, the technical scheme adopted in the present invention is:

An N*3-phase permanent magnet synchronous motor winding unit self-control method, comprising:

1) Decouple the equivalent transformation of N*3-phase permanent magnet synchronous motor into n equivalently independent three-phase permanent magnet synchronous motor models;

2) Using the motor online parameter identification method to obtain the motor parameters of each three-phase permanent magnet synchronous motor model;

3) According to the three-phase permanent magnet synchronous motor model and motor parameters, the winding unit of the N*3-phase permanent magnet synchronous motor is self-controlled.

Optionally, in the n equivalent independent three-phase permanent magnet synchronous motor models obtained in step 1), under the condition that the winding current is distributed evenly, the approximate function of any i-th equivalent and independent three-phase permanent magnet synchronous motor model The expression is:

In the above formula, u _di and u _qi are the dq-axis components of the stator voltage of the ith winding unit, respectively, R _si is the resistance of the ith winding unit, and i _di and i _qi are the winding current of the ith winding unit, respectively. The dq-axis components of , L _di and L _qi are the dq-axis components of the inductance of the i-th winding unit, n is the number of winding units, L _md and L _mq are the dq-axis components of the mutual inductance of two adjacent winding units, respectively, ω _e is the electrical angular velocity of the N*3-phase permanent magnet synchronous motor, and ψ _f is the permanent magnet flux linkage.

Optionally, in the n equivalent independent three-phase permanent magnet synchronous motor models obtained in step 1), under the arbitrary distribution of the winding current, the approximate function of any i-th equivalent and independent three-phase permanent magnet synchronous motor model The expression is:

In the above formula, u _di and u _qi are the dq-axis components of the stator voltage of the ith winding unit, respectively, R _si is the resistance of the ith winding unit, and i _di and i _qi are the winding current of the ith winding unit, respectively. The dq-axis components of , L _di and L _qi are the dq-axis components of the inductance of the i-th winding unit, L _md and L _mq are the dq-axis components of the mutual inductance of the two adjacent winding units, respectively, ω _e is N*3 The electrical angular velocity of the phase permanent magnet synchronous motor, ψ _f is the permanent magnet flux linkage.

Optionally, step 1) includes:

1.1) Determine the voltage equation and flux linkage equation of each winding unit of the N*3-phase permanent magnet synchronous motor;

1.2) According to the equal mutual inductance between each winding unit, the winding equation of each winding unit is obtained by combining the voltage equation and the flux linkage equation;

1.3) According to the current distribution of each winding unit of the N*3-phase permanent magnet synchronous motor, simplify the winding equation of each winding unit, thereby obtaining n equivalent independent three-phase permanent magnet synchronous motor models.

Optionally, the functional expression for determining the voltage equation of any i-th winding unit in step 1.1) is:

In the above formula, u _di and u _qi are the dq-axis components of the stator voltage of the ith winding unit, respectively, R _si is the resistance of the ith winding unit, and i _di and i _qi are the winding current of the ith winding unit, respectively. The dq-axis components of , ψ _di and ψ _qi are the dq-axis components of the stator flux linkage of the ith winding unit, respectively, ω _e is the electrical angular velocity of the N*3-phase permanent magnet synchronous motor, and t is the time.

Optionally, the functional expression for determining the flux linkage equation of any i-th winding unit in step 1.1) is:

In the above formula, ψ _di and ψ _qi are respectively the dq-axis components of the stator flux linkage of the ith winding unit, L _di and L _qi are the dq-axis components of the inductance of the ith winding unit, respectively, i _di and i _qi are respectively is the dq axis component of the winding current of the ith winding unit, L _md(i+1)toi and L _mq(i+1)toi are the dq of the mutual inductance between the ith winding unit and the ith winding unit, respectively Axial components, L _md(i-1)toi and L _mq(i-1)toi are the dq-axis components of the mutual inductance between the i-1th winding unit and the ith winding unit, respectively, id _(i+1) and i _q(i+1) are the dq-axis components of the winding current of the i+1th winding unit, respectively, and id _(i-1) and i _q(i-1) are the windings of the i-1th winding unit, respectively The dq-axis component of the current, _ψf is the permanent magnet flux linkage.

Optionally, in step 1.2), the functional expression for obtaining the winding equation of each winding unit by combining the voltage equation and the flux linkage equation is:

In the above formula, u _di and u _qi are the dq-axis components of the stator voltage of the ith winding unit, respectively, R _si is the resistance of the ith winding unit, and i _di and i _qi are the winding current of the ith winding unit, respectively. The dq-axis components of , L _di and L _qi are the dq-axis components of the inductance of the i-th winding unit, L _md and L _mq are the dq-axis components of the mutual inductance of the two adjacent winding units, respectively, ω _e is N*3 The electrical angular velocity of the phase permanent magnet synchronous motor, ψ _f is the permanent magnet flux linkage. in:

The proportion of the two components is small and can be approximately ignored.

Optionally, the motor online parameter identification method adopted in step 2) is the least square method, and the expression form of the voltage equation least square method of the three-phase permanent magnet synchronous motor model is:

为：In the above formula, u _d and u _q are the dq-axis components of the stator voltage, respectively, R _s is the resistance of the three-phase permanent magnet synchronous motor model, id and i _q are the _dq -axis components of the winding current, respectively, and ω _e is N* The electrical angular velocity of the three-phase permanent magnet synchronous motor, ψ _f is the permanent magnet flux linkage, L _d and L _q are the dq axis components of the inductance of the three-phase permanent magnet synchronous motor model, respectively, p is the differential operator; the voltage equation is the least two In the expression for multiplication, the input matrix

for:

为：parameter matrix

for:

The output matrix y(k) is:

中需要对pi_d、pi_q微分进行离散化处理：and in the input matrix

It is necessary to discretize the pi _d and pi _q differentials in:

In the above formula, id (k) and i _q (k) are the _dq -axis components of the winding current at time k, and _id (k-1) and i _q (k-1) are the winding currents at time k-1. dq axis components, T _s is the sampling time.

In addition, the present invention also provides an N*3-phase permanent magnet synchronous motor winding unit self-control device, comprising:

The model decoupling program unit is used to decouple the equivalent transformation of the N*3-phase permanent magnet synchronous motor into n equivalently independent three-phase permanent magnet synchronous motor models;

The parameter identification program unit is used to obtain the motor parameters of each three-phase permanent magnet synchronous motor model by using the motor online parameter identification method;

The independent control program unit is used to self-control the winding unit of the N*3-phase permanent magnet synchronous motor according to the three-phase permanent magnet synchronous motor model and motor parameters.

In addition, the present invention also provides an N*3 phase permanent magnet synchronous motor winding unit self-control device, comprising a microprocessor and a memory connected to each other, the microprocessor being programmed or configured to execute the N*3 phase permanent magnet The steps of a method for self-controlling a winding unit of a magnetic synchronous motor.

In addition, the present invention also provides a computer-readable storage medium storing a computer program programmed or configured to execute the N*3-phase permanent magnet synchronous motor winding unit self-control method.

Compared with the prior art, the present invention has the following advantages:

1. In view of the existing mathematical models of multi-d-q coordinate transformation and VSD vector space decoupling transformation, there are problems such as strong coupling between three-phase winding units, complex control, incompatibility with three-phase permanent magnet motors, and poor portability. The invention decouples the equivalent transformation of the N*3-phase permanent magnet synchronous motor into n equivalent independent three-phase permanent magnet synchronous motor models; adopts the motor online parameter identification method to obtain the motor parameters of each three-phase permanent magnet synchronous motor model; According to the three-phase permanent magnet synchronous motor model and motor parameters, the winding unit of the N*3 phase permanent magnet synchronous motor is automatically controlled. The present invention does not need real-time data communication between control units, can continue to use the three-phase permanent magnet motor control algorithm, has strong expansibility, and can realize completely independent control of each three-phase winding unit.

2. The present invention adopts the distributed decoupling control of N*3-phase permanent magnet synchronous motor, which is different from the mathematical model of multi-d-q coordinate transformation and vector space decoupling transformation. The transformed motor model does not need to exchange current between windings. Control, the three-phase winding of each independent motor is completely equivalent to the three-phase permanent magnet synchronous motor for control, the N*3-phase permanent magnet synchronous motor after model transformation does not require real-time data communication between the control units, and the three-phase permanent magnet motor can be used. The control algorithm has strong scalability and can realize complete independent control of each three-phase winding unit, which has practical value for the application of N*3-phase permanent magnet synchronous motor.

Description of drawings

FIG. 1 is a schematic diagram of a basic flow of a method according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of a control module of an N*3-phase permanent magnet synchronous motor in a method according to an embodiment of the present invention.

Detailed ways

As shown in FIG. 1 , the method for self-controlling the winding unit of the N*3-phase permanent magnet synchronous motor in this embodiment includes:

1) Decouple the equivalent transformation of N*3-phase permanent magnet synchronous motor into n equivalently independent three-phase permanent magnet synchronous motor models;

2) Using the motor online parameter identification method to obtain the motor parameters of each three-phase permanent magnet synchronous motor model;

3) According to the three-phase permanent magnet synchronous motor model and motor parameters, the winding unit of the N*3-phase permanent magnet synchronous motor is self-controlled.

In this embodiment, in the n equivalently independent three-phase permanent magnet synchronous motor models obtained in step 1), under the condition that the winding currents are distributed evenly, the approximation of any i-th equivalent and independent three-phase permanent magnet synchronous motor model The function expression is:

In the above formula, u _di and u _qi are the dq-axis components of the stator voltage of the ith winding unit, respectively, R _si is the resistance of the ith winding unit, and i _di and i _qi are the winding current of the ith winding unit, respectively. The dq-axis components of , L _di and L _qi are the dq-axis components of the inductance of the i-th winding unit, n is the number of winding units, L _md and L _mq are the dq-axis components of the mutual inductance of two adjacent winding units, respectively, ω _e is the electrical angular velocity of the N*3-phase permanent magnet synchronous motor, ψ _f is the permanent magnet flux linkage, i=1, 2, . . . , n.

In this embodiment, in the n equivalent independent three-phase permanent magnet synchronous motor models obtained in step 1), under the arbitrary distribution of winding currents, the approximation of any i-th equivalent and independent three-phase permanent magnet synchronous motor model The function expression is:

In the above formula, u _di and u _qi are the dq-axis components of the stator voltage of the ith winding unit, respectively, R _si is the resistance of the ith winding unit, and i _di and i _qi are the winding current of the ith winding unit, respectively. The dq-axis components of , L _di and L _qi are the dq-axis components of the inductance of the i-th winding unit, L _md and L _mq are the dq-axis components of the mutual inductance of the two adjacent winding units, respectively, ω _e is N*3 The electrical angular velocity of the phase permanent magnet synchronous motor, ψ _f is the permanent magnet flux linkage.

In this embodiment, the N*3-phase permanent magnet synchronous motor includes a total of n winding units, and the functional expressions of the voltage equations of the 1st to nth winding units (i=1, 2, . . . , n, the same below) are respectively for:

…

The functional expression of any ith equivalently independent three-phase permanent magnet synchronous motor model in the above n equivalently independent three-phase permanent magnet synchronous motor models can be equivalent to:

…

In the above formula, R _s1 ^* ~ R _sn ^* respectively represent the stator resistance of the first to n sets of windings, L _d1 ^* ~ L _dn ^* respectively represent the d-axis inductance of the first to n sets of windings, L _q1 ^* ~ L _qn ^* indicates the q-axis inductance of the first to n sets of windings, respectively.

As shown in Figure 2, on the basis of obtaining the three-phase permanent magnet synchronous motor model and motor parameters, controller 1 to controller n respectively control the corresponding driver 1 to driver n to control the N*3-phase permanent magnet synchronous motor ( The corresponding winding units in N*3PMSM) perform distributed control, the control method is the control method of the traditional three-phase permanent magnet motor, and the closed-loop feedback includes: the three-phase currents of the winding units i _ai , i _bi , i _ci , N* The electrical angular velocity ω _e of the 3-phase permanent magnet synchronous motor, the phase θ _ei of the winding unit, and the output control variables are the three-phase voltages V _ai , V _bi , V _ci , i=1, 2,...,n. Each winding unit of the N*3-phase permanent magnet synchronous motor is independently controlled, with independent controllers and drivers.

In this embodiment, step 1) includes:

1.1) Determine the voltage equation and flux linkage equation of each winding unit of the N*3-phase permanent magnet synchronous motor;

1.2) According to the equal mutual inductance between each winding unit, the winding equation of each winding unit is obtained by combining the voltage equation and the flux linkage equation;

1.3) According to the current distribution of each winding unit of the N*3-phase permanent magnet synchronous motor, simplify the winding equation of each winding unit, thereby obtaining n equivalent independent three-phase permanent magnet synchronous motor models.

In this embodiment, the functional expression for determining the voltage equation of any i-th winding unit in step 1.1) is:

In the above formula, u _di and u _qi are the dq-axis components of the stator voltage of the ith winding unit, respectively, R _si is the resistance of the ith winding unit, and i _di and i _qi are the winding current of the ith winding unit, respectively. The dq-axis components of , ψ _di and ψ _qi are the dq-axis components of the stator flux linkage of the ith winding unit, respectively, ω _e is the electrical angular velocity of the N*3-phase permanent magnet synchronous motor, and t is the time.

In this embodiment, the N*3-phase permanent magnet synchronous motor includes a total of n winding units, and the functional expressions of the voltage equations of the 1st to nth winding units are:

…

Among them, ω _e is the electrical angular velocity of the motor, u _d1 , u _q1 , u _d2 , u _q2 ... u _dn , u _qn are the stator voltages of each set of winding units, i _d1 , i _q1 , i _d2 , i _q2 . ..i _dn , i _qn are the stator currents of each set of winding units, ψ _d1 , ψ _q1 , ψ _d2 , ψ _q2 ... ψ _dn , ψ _qn are the stator flux linkages of each set of winding units.

In this embodiment, the functional expression for determining the flux linkage equation of any i-th winding unit in step 1.1) is:

In the above formula, ψ _di and ψ _qi are respectively the dq-axis components of the stator flux linkage of the ith winding unit, L _di and L _qi are the dq-axis components of the inductance of the ith winding unit, respectively, i _di and i _qi are respectively is the dq axis component of the winding current of the ith winding unit, L _md(i+1)toi and L _mq(i+1)toi are the dq of the mutual inductance between the ith winding unit and the ith winding unit, respectively Axial components, L _md(i-1)toi and L _mq(i-1)toi are the dq-axis components of the mutual inductance between the i-1th winding unit and the ith winding unit, respectively, id _(i+1) and i _q(i+1) are the dq-axis components of the winding current of the i+1th winding unit, respectively, and id _(i-1) and i _q(i-1) are the windings of the i-1th winding unit, respectively The dq-axis component of the current, _ψf is the permanent magnet flux linkage.

In this embodiment, the N*3-phase permanent magnet synchronous motor includes a total of n winding units, and the functional expressions of the flux linkage equations of the 1st to nth winding units are:

…

Among them, L _d1 , L _q1 , L _d2 , L _q2 ... L _dn , L _qn are the dq-axis inductances of each set of windings, L _md1to2 , L _mq1to2 , L _md2to1 , L _mq2to1 , L _md3to2 , L _mq3to2 ... L _mdnto1 , L _mqnto1 , L _mdnto2 , L _mqnto2 , L _md1ton , L _mq1ton , L _md(n-1)ton , L _mq(n-1)ton are the mutual inductances between the d-axis and the q-axis of the casing winding, ψ _f is the permanent magnet flux linkage. It should be noted that in this embodiment, the N*3-phase permanent magnet synchronous motor includes a total of n winding units, and the i-1 th winding unit, the i th winding unit, and the i+1 th winding unit refer to adjacent ones. Three winding units, since the winding units are arranged in a ring, at the boundary, when i=1, i-1 is n, i+1 is 2; when i=n, i-1 is n-1, i+ 1 is 1.

Combining the voltage equation and the flux linkage equation, and L _md1to2 =L _md2to1 =...=L _md1ton =L _mdnto1 =L _md , L _mq1to2 =L _mq2to1 =... =L _mq1ton =L _mqnto1 =L _mq , we can get this In the embodiment step 1.2), the functional expression for obtaining the winding equation of each winding unit in combination with the voltage equation and the flux linkage equation is:

In the above formula, u _di and u _qi are the dq-axis components of the stator voltage of the ith winding unit, respectively, R _si is the resistance of the ith winding unit, and i _di and i _qi are the winding current of the ith winding unit, respectively. The dq-axis components of , L _di and L _qi are the dq-axis components of the inductance of the i-th winding unit, L _md and L _mq are the dq-axis components of the mutual inductance of the two adjacent winding units, respectively, ω _e is N*3 The electrical angular velocity of the phase permanent magnet synchronous motor, ψ _f is the permanent magnet flux linkage. in:

On this basis, step 1.3) simplifies the winding equation of each winding unit according to the current distribution of each winding unit of the N*3-phase permanent magnet synchronous motor, thereby obtaining n equivalent independent three-phase permanent magnet synchronous motor models. which is:

The approximate function expression of any i-th equivalent independent three-phase permanent magnet synchronous motor model is:

In the above formula, u _di and u _qi are the dq-axis components of the stator voltage of the ith winding unit, respectively, R _si is the resistance of the ith winding unit, and i _di and i _qi are the winding current of the ith winding unit, respectively. The dq-axis components of , L _di and L _qi are the dq-axis components of the inductance of the i-th winding unit, n is the number of winding units, L _md and L _mq are the dq-axis components of the mutual inductance of two adjacent winding units, respectively, ω _e is the electrical angular velocity of the N*3-phase permanent magnet synchronous motor, ψ _f is the permanent magnet flux linkage, i=1, 2, . . . , n.

Under the arbitrary distribution of winding current, the approximate function expression of any i-th equivalent independent three-phase permanent magnet synchronous motor model is:

In the above formula, u _di and u _qi are the dq-axis components of the stator voltage of the ith winding unit, respectively, R _si is the resistance of the ith winding unit, and i _di and i _qi are the winding current of the ith winding unit, respectively. The dq-axis components of , L _di and L _qi are the dq-axis components of the inductance of the i-th winding unit, L _md and L _mq are the dq-axis components of the mutual inductance of the two adjacent winding units, respectively, ω _e is N*3 The electrical angular velocity of the phase permanent magnet synchronous motor, ψ _f is the permanent magnet flux linkage.

The motor online parameter identification method adopted in step 2) can adopt the least squares method, model reference adaptive method, Kalman filter algorithm, artificial intelligence algorithm, etc. as required, and the motor parameters obtained by each three-phase permanent magnet synchronous motor model are: Refers to the dq-axis components L _d and L _q of the inductance of the three-phase permanent magnet synchronous motor model.

As an optional implementation, the motor online parameter identification method adopted in step 2) of this embodiment is the least squares method, and the expression form of the voltage equation least squares method of the three-phase permanent magnet synchronous motor model is:

为：In the above formula, u _d and u _q are the dq-axis components of the stator voltage, respectively, R _s is the resistance of the three-phase permanent magnet synchronous motor model, id and i _q are the _dq -axis components of the winding current, respectively, and ω _e is N* The electrical angular velocity of the three-phase permanent magnet synchronous motor, ψ _f is the permanent magnet flux linkage, L _d and L _q are the dq axis components of the inductance of the three-phase permanent magnet synchronous motor model, respectively, p is the differential operator; the voltage equation is the least two In the expression for multiplication, the input matrix

for:

为：parameter matrix

for:

The output matrix y(k) is:

中需要对pi_d、pi_q微分进行离散化处理：and in the input matrix

It is necessary to discretize the pi _d and pi _q differentials in:

In the above formula, id (k) and i _q (k) are the _dq -axis components of the winding current at time k, and _id (k-1) and i _q (k-1) are the winding currents at time k-1. dq axis components, T _s is the sampling time.

To sum up, for the existing mathematical models of multi-d-q coordinate transformation and VSD vector space decoupling transformation, there are strong coupling between three-phase winding units, complicated control, incompatibility with three-phase permanent magnet motors, and poor portability. The method in this embodiment decouples the N*3-phase permanent magnet synchronous motor into N equivalently independent three-phase permanent magnet synchronous motor units through the method of model equivalent transformation, and then identifies the inductance parameters through online parameters. The equivalent motor parameter values of each decoupled three-phase permanent magnet synchronous motor unit are obtained, so that the complete decoupling control of the N*3-phase permanent magnet synchronous motor can be completed. After complete decoupling, the standard three-phase motor control method can be used, without real-time data communication between control units, and the three-phase permanent magnet motor control algorithm can be used, which has strong scalability and can achieve complete independence for each three-phase winding unit. control.

In addition, this embodiment also provides an N*3-phase permanent magnet synchronous motor winding unit self-control device, including:

The model decoupling program unit is used to decouple the equivalent transformation of the N*3-phase permanent magnet synchronous motor into n equivalently independent three-phase permanent magnet synchronous motor models;

The parameter identification program unit is used to obtain the motor parameters of each three-phase permanent magnet synchronous motor model by using the motor online parameter identification method;

The independent control program unit is used to self-control the winding unit of the N*3-phase permanent magnet synchronous motor according to the three-phase permanent magnet synchronous motor model and motor parameters.

In addition, the present embodiment also provides an N*3 phase permanent magnet synchronous motor winding unit self-control device, comprising a microprocessor and a memory connected to each other, the microprocessor being programmed or configured to perform the aforementioned N*3 phase permanent magnet synchronous motor. The steps of a method for self-controlling a winding unit of a magnetic synchronous motor.

In addition, the present embodiment also provides a computer-readable storage medium storing a computer program programmed or configured to execute the aforementioned method for self-controlling a winding unit of an N*3-phase permanent magnet synchronous motor.

As will be appreciated by those skilled in the art, the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein. The present application refers to flowcharts of methods, apparatus (systems), and computer program products according to embodiments of the present application and/or processor-executed instructions generated for implementing a process or processes and/or block diagrams in a flowchart. A means for the function specified in a block or blocks. These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams. These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions under the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims (9)

1. An N x 3 phase permanent magnet synchronous motor winding unit self-control method is characterized by comprising the following steps:

1) the N x 3-phase permanent magnet synchronous motor is equivalently transformed and decoupled into N equivalent independent three-phase permanent magnet synchronous motor models, wherein N is the number of three-phase winding units of the N x 3-phase permanent magnet synchronous motor, and N is equal to N for the N x 3-phase permanent magnet synchronous motor;

2) obtaining motor parameters of each three-phase permanent magnet synchronous motor model by adopting a motor online parameter identification method;

3) the winding unit of the N x 3 phase permanent magnet synchronous motor is automatically controlled according to the three-phase permanent magnet synchronous motor model and the motor parameters;

in the n equivalent independent three-phase permanent magnet synchronous motor models obtained in the step 1), under the condition of arbitrary distribution of winding current, the approximate function expression of an arbitrary ith equivalent independent three-phase permanent magnet synchronous motor model is as follows:

in the above formula, u _di And u _qi Dq-axis components, R, of the stator voltage of the i-th winding element, respectively _si Is the resistance of the i-th winding unit, i _di And i _qi Respectively, the winding of the ith winding unit.

2. The winding unit self-control method of an N x 3-phase permanent magnet synchronous motor according to claim 1, wherein, in the N equivalent independent three-phase permanent magnet synchronous motor models obtained in step 1), under the condition that the winding current is distributed evenly, the approximate function expression of any ith equivalent independent three-phase permanent magnet synchronous motor model is as follows:

in the above formula, u _di And u _qi Dq-axis components, R, of the stator voltage of the i-th winding element, respectively _si Is the resistance of the i-th winding unit, i _di And i _qi Dq-axis components, L, of the winding current of the i-th winding element, respectively _di And L _qi The dq axis components of the inductance of the i-th winding unit are respectively, n is the number of the winding units, and L _md And L _mq Dq-axis components, omega, of mutual inductance of two adjacent winding elements, respectively _e For the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machine _f Is a permanent magnet flux linkage.

3. The winding unit self-control method of an N x 3-phase permanent magnet synchronous motor according to claim 1, wherein the step 1) comprises:

1.1) determining a voltage equation and a flux linkage equation of each winding unit of the N x 3-phase permanent magnet synchronous motor;

1.2) obtaining a winding equation of each winding unit by combining a voltage equation and a flux linkage equation according to the mutual inductance equality among the winding units;

1.3) simplifying winding equations of all winding units according to the current distribution condition of all winding units of the N x 3-phase permanent magnet synchronous motor, thereby obtaining N equivalent independent three-phase permanent magnet synchronous motor models.

4. The winding unit self-control method of the N x 3-phase permanent magnet synchronous motor according to claim 3, wherein the function expression of the voltage equation of any ith winding unit determined in step 1.1) is as follows:

in the above formula, u _di And u _qi Dq-axis components, R, of the stator voltage of the i-th winding element, respectively _si Is the resistance of the i-th winding unit, i _di And i _qi Dq-axis components, ψ, of the winding currents of the i-th winding element, respectively _di And psi _qi Dq-axis components, ω, of the stator flux linkage of the i-th winding unit, respectively _e The electrical angular velocity of the N x 3-phase permanent magnet synchronous motor is shown, and t is time.

5. The winding unit self-control method of the N x 3-phase permanent magnet synchronous motor according to claim 3, wherein the functional expression of the flux linkage equation of any ith winding unit determined in step 1.1) is as follows:

in the above formula, # _di And psi _qi Dq-axis components, L, of the stator flux linkage of the i-th winding unit, respectively _di And L _qi Dq-axis components, i, of inductances of i-th winding elements, respectively _di And i _qi Dq-axis components, L, of the winding current of the i-th winding element, respectively _md(i+1)toi And L _mq(i+1)toi Dq axis component, L, of mutual inductance of the i +1 th winding unit and the i-th winding unit, respectively _md(i-1)toi And L _mq(i-1)toi Dq axis components, i, of mutual inductance of the i-1 th winding unit and the i-th winding unit, respectively _d(i+1) And i _q(i+1) Dq-axis components, i, of the winding currents of the i +1 th winding unit, respectively _d(i-1) And i _q(i-1) Dq-axis components, ψ, of winding currents of i-1 th winding elements, respectively _f Is a permanent magnet flux linkage.

6. The winding unit self-control method of the N x 3-phase permanent magnet synchronous motor according to claim 1, wherein the motor online parameter identification method adopted in the step 2) is a least square method, and an expression form of a voltage equation least square method of a three-phase permanent magnet synchronous motor model is as follows:

in the above formula, u _d And u _q Are respectively dq-axis components of the stator voltage, R _s Resistance, i, for a model of a three-phase PMSM _d And i _q Are the dq-axis components, omega, of the winding current, respectively _e For the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machine _f Is a permanent magnet flux linkage, L _d And L _q The dq axis components of the inductance of the three-phase permanent magnet synchronous motor model are respectively, and p is a differential operator; in the expression form of the least square method of the voltage equation, an input matrix

Comprises the following steps:

parameter matrix

Comprises the following steps:

the output quantity matrix y (k) is:

and in the input matrix

In need of p is _d 、pi _q Carrying out discretization treatment on the differential:

in the above formula, i _d (k) And i _q (k) Dq-axis component of winding current at time k, i _d (k-1) and i _q (k-1) is the dq-axis component of the winding current at time k-1, T _s Is the sampling time.

7. An automatic control device for winding units of an N x 3-phase permanent magnet synchronous motor is characterized by comprising the following components:

the model decoupling program unit is used for equivalently transforming and decoupling the N x 3-phase permanent magnet synchronous motor into N equivalent independent three-phase permanent magnet synchronous motor models; in the n equivalent independent three-phase permanent magnet synchronous motor models, under the condition of arbitrary distribution of winding current, the approximate function expression of an arbitrary ith equivalent independent three-phase permanent magnet synchronous motor model is as follows:

in the above formula, u _di And u _qi Dq-axis components, R, of the stator voltage of the i-th winding element, respectively _si Is the resistance of the i-th winding unit, i _di And i _qi Windings of the ith winding unit are respectively arranged;

the parameter identification program unit is used for obtaining the motor parameters of each three-phase permanent magnet synchronous motor model by adopting a motor online parameter identification method;

and the independent control program unit is used for automatically controlling the winding unit of the N x 3 phase permanent magnet synchronous motor according to the three-phase permanent magnet synchronous motor model and the motor parameters.

8. An N x 3 phase permanent magnet synchronous motor winding unit self-control device comprising a microprocessor and a memory connected to each other, characterized in that the microprocessor is programmed or configured to perform the steps of the N x 3 phase permanent magnet synchronous motor winding unit self-control method according to any one of claims 1 to 6.

9. A computer readable storage medium having stored thereon a computer program programmed or configured to perform a method of self-controlling winding units of an N x 3-phase permanent magnet synchronous motor according to any one of claims 1 to 6.

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