CN114710088A - Method and device for identifying alternating current motor parameters, electronic equipment and storage medium - Google Patents

Abstract

The present application discloses a method, device, electronic device and storage medium for identifying parameters of an AC motor, and relates to the technical field of motor control. The method includes the following steps: determining a reference result according to the acquired three-phase current and three-phase flux linkage of the stator ; According to the three-phase current of the stator and the current rotor time constant, the flux linkage of the rotor in the αβ two-phase stationary coordinate system is obtained by joint solution, and then an adjustable result is obtained through the flux linkage of the rotor; According to the reference result and the adjustable result to get the new rotor time constant. This application does not need the integrator and stator resistance for calculation, which not only avoids the problems of integrator temperature drift and integration error accumulation caused by the pure integration link, but also solves the disadvantage of inaccurate calculation of the rotor time constant caused by the error of the stator resistance. The rotor time constant of the motor can also be accurately identified at low speed and light load, thereby improving the steady-state performance of the motor.

Description

Method, device, electronic device and storage medium for identifying AC motor parameters

technical field

The present application relates to the technical field of motor control, and in particular, to a method, an apparatus, an electronic device and a storage medium for identifying parameters of an AC motor.

Background technique

Among the high-performance control algorithms for AC motors, vector control or field-oriented control is the most widely used. As far as vector control is concerned, the key lies in magnetic field orientation, and one of the important factors for the accuracy of magnetic field orientation lies in the accuracy of parameters, so it is very necessary and critical to accurately identify motor parameters.

The parameters mainly involve rotor time constant, stator resistance, etc. The inaccuracy of these parameters will increase the error of magnetic field orientation. Among them, the rotor time constant Tr is the biggest factor affecting the accuracy of magnetic field orientation of induction motor. If the motor is in the working state for a long time, the rotor resistance will increase as the temperature rises, and the rotor time constant will also change with the working state of the motor. Assuming that the rotor time constant deviates too much from the reality, the orientation of the magnetic field is seriously inaccurate, and the decoupling of the motor flux linkage and torque fails, which reduces the steady-state performance and dynamic performance of the motor, and even causes the motor to oscillate violently. It can be seen that the key to accurately realizing vector control lies in the accurate identification of motor parameters, especially the accurate identification of the rotor time constant.

In the related art, methods for identifying the rotor time constant include, for example, a model reference adaptive algorithm. In the traditional model reference adaptive algorithm, the rotor flux observer based on the voltage model, which is independent of the rotor time constant, is often selected as the reference model, and the rotor flux observer based on the current model, which is independent of the rotor time constant, is selected as the adjustable model. , the estimated value of the rotor time constant is obtained after the difference between the output quantity of the adjustable model and the reference model is passed through the adaptive link, and the rotor time constant in the above-mentioned adjustable model is dynamically adjusted according to the estimated value.

However, the reference model in the related art adopts the observer of the voltage model to estimate the flux linkage, and introduces a pure integral link, and the temperature drift of the integrator, the initial value of the integral and the accumulation of errors will also lead to the estimation of the flux linkage. The larger error makes the orientation of the magnetic field less precise.

At the same time, when the motor runs at low speed, the voltage drop of the stator resistance is obvious. If the parameter value of the stator resistance is inaccurate, the deviation of the voltage drop will also lead to a more serious error in the integration result in the related art, which in turn leads to a larger error in the estimation of the rotor time constant at low speed.

SUMMARY OF THE INVENTION

The embodiments of the present application provide a method for identifying the rotor time constant of an AC motor, so as to solve the technical problem of the lack of accuracy in identifying the rotor time constant in the motor parameters in the related art.

In a first aspect, a method for identifying parameters of an AC motor is provided, including the following steps:

According to the obtained stator three-phase current and three-phase flux linkage, determine a reference result;

According to the three-phase current of the stator and the current rotor time constant, the flux linkage of the rotor in the αβ two-phase stationary coordinate system is jointly solved, and then an adjustable result is obtained through the flux linkage of the rotor;

A new rotor time constant is obtained from the reference result and the adjustable result.

In some embodiments, the specific steps of jointly solving and obtaining the flux linkage of the rotor in the αβ two-phase stationary coordinate system according to the three-phase current of the stator and the current rotor time constant include:

Parker transforms the three-phase current of the stator to obtain the current α and β axis components of the stator in the αβ two-phase static coordinate system;

Substitute the current α and β axis components of the stator, the obtained rotor angular velocity and the current rotor time constant into the rotor flux linkage current model in the αβ two-phase static coordinate system to obtain the rotor flux linkage α and β axes. weight.

In some embodiments, the mathematical formula of the rotor flux linkage current model is:

In the formula, ψ _rα and ψ _rβ are the α and β axis components of the rotor flux;

i _sα , i _sβ are the α and β axis components of the stator current;

T _r is the rotor time constant;

p is a differential operator;

ω _r is the rotor angular velocity;

L _m is the mutual inductance between the stator and the rotor in the αβ two-phase stationary coordinate system.

In some embodiments, the specific steps of obtaining an adjustable result through the flux linkage of the rotor include:

Substitute the stator current α, β axis components and rotor flux linkage α, β axis components, as well as the acquired rotor angular velocity and the current rotor time constant into the set adjustable model to obtain adjustable results; wherein, the said The mathematical formula for the adjustable model is:

为定子瞬态电感；In the formula,

is the stator transient inductance;

L _s is the stator self-inductance in the αβ two-phase stationary coordinate system, including the stator leakage inductance;

L _m is the mutual inductance between the stator and the rotor in the αβ two-phase stationary coordinate system;

L _r is the rotor self-inductance in the αβ two-phase stationary coordinate system, including the rotor leakage inductance;

T _r is the rotor time constant;

p is a differential operator;

为定子电流幅值；

is the stator current amplitude;

ω _r is the rotor angular velocity;

ψ _rα , ψ _rβ are the α and β axis components of the rotor flux;

i _sα , i _sβ are the α and β axis components of the stator current.

In some embodiments, the specific step of determining a reference result according to the acquired three-phase current and three-phase flux linkage of the stator includes:

Obtain the stator flux linkage and stator current in the abc three-phase symmetrical coordinate system;

Substitute the stator flux linkage and stator current into the set reference model to obtain the reference result; wherein, the data formula of the reference model is:

F1=ψ _a i _a +ψ _b i _b +ψ _c i _c ,

In the formula, i _a , i _b , and i _c represent the three-phase currents of the stator a, b, and c, respectively;

ψ _a , ψ _b , and ψ _c represent the three-phase flux linkages of the stator a, b, and c, respectively.

In some embodiments, the specific step of obtaining a new rotor time constant according to the reference result and the adjustable result includes:

Based on the difference between the reference result and the adjustable result, a new rotor time constant is determined.

In some embodiments, the specific step of obtaining a new rotor time constant according to the reference result and the adjustable result includes:

Substitute the reference result and the adjustable result into the Popov stability theoretical model to obtain a new rotor time constant; wherein, the mathematical formula of the Popov stability theoretical model is:

In the formula, k _p , _ki are proportional coefficients, F1 is the reference result, F2 is the adjustable result, and _Tr (0) is the rotor time constant at the initial moment.

In a second aspect, a device for identifying parameters of an AC motor is also provided, including:

a first module, configured to determine a reference result according to the acquired three-phase current and three-phase flux linkage of the stator;

The second module is configured to jointly solve the current observation of the rotor time constant and the three-phase current of the stator to obtain the flux linkage of the rotor in the αβ two-phase stationary coordinate system, and then obtain a adjustable result;

The third module is configured to estimate a new observed value of the rotor time constant according to the adjustable result obtained by the second module and the reference result determined by the first module, and send it to the second module as the rotor time constant observational amount.

In a third aspect, an electronic device is also provided, including a computer program running on a processor stored on a memory and a processor memory, and the processor implements the method for identifying parameters of an AC motor as described above when the processor executes the computer program A step of.

In a fourth aspect, a storage medium is also provided, and a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned method for identifying parameters of an AC motor are implemented.

The beneficial effects brought by the technical solution provided in this application include: no integrator and stator resistance are required for calculation, which not only avoids the problems of temperature drift of the integrator and accumulation of integration errors caused by the pure integration link, but also solves the error band of the stator resistance. The disadvantage of inaccurate calculation of the rotor time constant is that the rotor time constant of the motor can be accurately identified at low speed and light load, which improves the steady-state performance of the motor.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

1 is a flowchart of a method for identifying a rotor time constant of an AC motor provided by an embodiment of the present application;

Fig. 2 is the topological diagram of rotor flux linkage α and β axis components obtained by joint solution;

Figure 3 is a topology diagram of the new rotor time constant obtained from the reference model and the adjustable model.

The realization, functional characteristics and advantages of the purpose of the present application will be further described with reference to the accompanying drawings in conjunction with the embodiments.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present application.

The flowcharts shown in the figures are for illustration only, and do not necessarily include all contents and operations/steps, nor do they have to be performed in the order described. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to the actual situation.

The embodiment of the present application provides a method for identifying parameters of an AC motor, which does not require an integrator and stator resistance for calculation, which not only avoids the problems of integrator temperature drift and integration error accumulation caused by the pure integration link, but also solves the problem of stator resistance. The disadvantage of inaccurate calculation of the rotor time constant caused by the error can also accurately identify the rotor time constant of the motor at low speed and light load, which improves the steady-state performance of the motor.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

As shown in FIG. 1 , an embodiment of the present application provides a method for identifying parameters of an AC motor, including the following steps:

S001: Determine a reference result according to the obtained stator three-phase current and three-phase flux linkage;

S002: jointly solve according to the three-phase current of the stator and the current rotor time constant to obtain the flux linkage of the rotor in the αβ two-phase stationary coordinate system, and then obtain an adjustable result through the flux linkage of the rotor;

S003: Obtain a new rotor time constant according to the reference result and the adjustable result.

In the conventional reference adaptive model, the three-phase voltage and three-phase current of the stator in the abc three-phase symmetrical coordinate system are obtained first, and then each phase voltage is integrated, so the integrator temperature drift and Disadvantages of accumulation of integral errors.

Among them, the above-mentioned reference adaptive model is:

F=i _a ∫u _a +i _b ∫u _b +i _c ∫u _c ,

In the formula, u _a , u _b , and u _c represent the three-phase voltages a, _b , and _c of the stator, respectively, and i _a , ib , and ic represent the three-phase currents of the stator a, b, and c, respectively.

并结合上述的参考自适应模型，得到了一个含有定子电流、定子磁链和定子电阻的变形后的参考自适应模型，该变形后的参考自适应模型的表达式为：According to the voltage equation of the AC motor

Combined with the above reference adaptive model, a deformed reference adaptive model including stator current, stator flux linkage and stator resistance is obtained. The expression of the deformed reference adaptive model is:

F=ψ _a i _a +ψ _b i _b +ψ _c i _c +Δ(R _s ),

In the formula, ψ _a , ψ _b , and ψ _c represent the three-phase flux linkages of the stator a, b, and c, respectively;

The term Δ(R _s ) contains stator resistance and stator current, and the stator current is expressed in the form of an instantaneous value. This term can be expressed as:

Δ(R _s )=R _s I ² [cos(ωt)∫cos(ωt)dt+cos(ωt-120°)∫cos(ωt-120°)dt+cos(ωt-240°)∫cos(ωt -240°)dt]=0,

If the motor is in a steady state, the Δ(R _s ) term is zero. It can be seen that the stator resistance will not affect the results of the improved reference adaptive model in a steady state.

Further, in steady state, the improved reference adaptive model in the abc three-phase symmetrical coordinate system can be expressed as:

F=F(u _a , u _b , uc , i _a , i _b , i _{c )} =ψ _a i _a +ψ _b i _b +ψ _c i _c

In the formula, i _a , i _b , and i _c represent the three-phase currents of stator a, b, and c, respectively;

ψ _a , ψ _b , and ψ _c represent the three-phase flux linkages of the stator a, b, and c, respectively.

Define the improved reference adaptive model as the reference model, then the mathematical formula of the reference model is:

F1=ψ _a i _a +ψ _b i _b +ψ _c i _c ,

In the formula, i _a , i _b , and i _c represent the three-phase currents of stator a, b, and c, respectively;

ψ _a , ψ _b , and ψ _c represent the three-phase flux linkages of the stator a, b, and c, respectively.

Based on this, in a preferred solution of the embodiment of the present application, the specific steps of the step S001 include:

Obtain the stator flux linkage and stator current in the abc three-phase symmetrical coordinate system;

Substitute the stator flux linkage and stator current into the set reference model to obtain the reference result; wherein, the data formula of the reference model is:

F1=ψ _a i _a +ψ _b i _b +ψ _c i _c ,

In the formula, i _a , i _b , and i _c represent the three-phase currents of stator a, b, and c, respectively;

ψ _a , ψ _b , and ψ _c represent the three-phase flux linkages of the stator a, b, and c, respectively.

In the embodiment of the present application, the reference model is improved and optimized on the basis of the traditional model reference adaptation. The reference model only contains the stator voltage and the stator current, and can be equivalent to only contain the stator magnetic field in the steady state. The expressions of the chain and stator currents solve the problems of temperature drift and integration error accumulation of the traditional voltage-type flux-linkage observer integrator.

As shown in FIG. 2 , preferably, the specific steps of jointly solving and obtaining the flux linkage of the rotor in the αβ two-phase stationary coordinate system according to the three-phase current of the stator and the current rotor time constant include:

Parker transforms the three-phase current of the stator to obtain the current α and β axis components of the stator in the αβ two-phase static coordinate system;

Substitute the current α and β axis components of the stator, the obtained rotor angular velocity and the current rotor time constant into the rotor flux linkage current model in the αβ two-phase static coordinate system to obtain the rotor flux linkage α and β axes. weight.

Specifically, the mathematical formula of the rotor flux linkage current model is:

In the formula, ψ _rα , ψ _rβ are the α and β axis components of the rotor flux;

i _sα , i _sβ are the α and β axis components of the stator current;

T _r is the rotor time constant;

p is a differential operator;

ω _r is the rotor angular velocity;

L _m is the mutual inductance between the stator and the rotor in the αβ two-phase stationary coordinate system.

Specifically, the specific steps of obtaining an adjustable result through the flux linkage of the rotor include:

Substitute the stator current α, β axis components and rotor flux linkage α, β axis components, as well as the acquired rotor angular velocity and the current rotor time constant into the set adjustable model to obtain adjustable results; wherein, the said The mathematical formula for the adjustable model is:

为定子瞬态电感；In the formula,

is the stator transient inductance;

L _s is the stator self-inductance in the αβ two-phase stationary coordinate system, including the stator leakage inductance;

L _m is the mutual inductance between the stator and the rotor in the αβ two-phase stationary coordinate system;

L _r is the rotor self-inductance in the αβ two-phase stationary coordinate system, including the rotor leakage inductance;

T _r is the rotor time constant;

p is a differential operator;

为定子电流幅值；

is the stator current amplitude;

ω _r is the rotor angular velocity;

ψ _rα , ψ _rβ are the α and β axis components of the rotor flux;

i _sα , i _sβ are the α and β axis components of the stator current.

According to the above reference model, its physical meaning is the sum of the product of the stator three-phase flux linkage and the corresponding phase current. When the reference model is represented in the αβ two-phase static coordinate system, according to the induction motor in the αβ two-phase static coordinate system The flux linkage equation is simplified to obtain a new expression of the reference model in the αβ two-phase stationary coordinate system:

In the formula, L _s is the stator self-inductance in the αβ two-phase stationary coordinate system, including the stator leakage inductance;

L _m is the mutual inductance between the stator and the rotor in the αβ two-phase stationary coordinate system;

L _r is the rotor self-inductance in the αβ two-phase stationary coordinate system, including the rotor leakage inductance;

为定子电流幅值；

is the stator current amplitude;

ψ _rα , ψ _rβ are the α and β axis components of the rotor flux;

i _sα , i _sβ are the α and β axis components of the stator current.

At the same time, through the voltage equation and flux linkage equation of the induction motor in the αβ two-phase stationary coordinate system, the expression of the rotor flux linkage current model can be determined as:

In the formula, ψ _rα , ψ _rβ are the α and β axis components of the rotor flux;

i _sα , i _sβ are the α and β axis components of the stator current;

T _r is the rotor time constant;

p is a differential operator;

ω _r is the rotor angular velocity;

L _m is the mutual inductance between the stator and the rotor in the αβ two-phase stationary coordinate system.

Then the expression of the rotor flux linkage current model is combined with the new expression of the reference model in the αβ two-phase stationary coordinate system. After simplification, the expression of the adjustable model in the αβ two-phase stationary coordinate system can be determined as: :

为定子瞬态电感；In the formula,

is the stator transient inductance;

L _s is the stator self-inductance in the αβ two-phase stationary coordinate system, including the stator leakage inductance;

L _m is the mutual inductance between the stator and the rotor in the αβ two-phase stationary coordinate system;

L _r is the rotor self-inductance in the αβ two-phase stationary coordinate system, including the rotor leakage inductance;

T _r is the rotor time constant;

p is a differential operator;

为定子电流幅值；

is the stator current amplitude;

ω _r is the rotor angular velocity;

ψ _rα , ψ _rβ are the α and β axis components of the rotor flux;

i _sα and is _β are the α and β axis components of the stator current.

In the embodiment of the present application, the rotor flux linkage is observed by a current-type flux linkage observer, and the specific schematic diagram is shown in FIG. 2. Since the current-type flux linkage observer with the rotor time constant is used as the adjustable model It can reflect the magnetic field orientation error caused by the inaccurate rotor time constant and compensate it.

Preferably, the specific step of obtaining a new rotor time constant according to the reference result and the adjustable result includes:

Based on the difference between the reference result and the adjustable result, a new rotor time constant is determined.

Specifically, the specific steps of obtaining a new rotor time constant according to the reference result and the adjustable result include:

Substitute the reference result and the adjustable result into the Popov stability theoretical model to obtain a new rotor time constant; wherein, the mathematical formula of the Popov stability theoretical model is:

In the formula, k _p , _ki are proportional coefficients, F1 is the reference result, F2 is the adjustable result, and _Tr (0) is the rotor time constant at the initial moment.

Among them, the rotor time constant at the initial moment is a known value.

In the embodiment of the present application, an adjustable model is established in the αβ two-phase static coordinate system, and the adjustable model is also combined with a current model flux linkage observer with a rotor time constant, and the rotor time constant is calculated by Popov ultra-stability theory. Estimate, achieve online adjustment and identification of the rotor time constant, and accurately identify the rotor time constant, the steps are simple, and the implementation is convenient, so that the rotor time constant identification vector control system based on the AC motor parameters constituted by the embodiment of the present application is stable and practical. It is strong and easy to promote and use.

It should be emphasized that, first of all, the parameters selected by the reference model only contain the three-phase flux linkage and current of the stator, but not the stator resistance; secondly, the adjustable model contains the rotor flux linkage, which can also overcome the inaccuracy of the stator resistance. Finally, after the output difference between the reference model and the adjustable model is alleviated by closed-loop feedback adaptation, the rotor time constant of the observation parameter in the adjustable model can be adjusted, which solves the problem caused by the stator resistance. The inaccurate influence of the error on the rotor time constant avoids the influence of the pure integral link in the voltage-type flux linkage observer used in the traditional method, and also improves the robustness to the stator resistance; at the same time, at low speed and light load It can also accurately identify the rotor time constant in the motor parameters and improve the steady-state performance of the system.

The embodiment of the present application also provides a device for identifying parameters of an AC motor, including:

a first module, configured to determine a reference result according to the acquired three-phase current and three-phase flux linkage of the stator;

The second module is configured to jointly solve the current observation of the rotor time constant and the three-phase current of the stator to obtain the flux linkage of the rotor in the αβ two-phase stationary coordinate system, and then obtain a adjustable result;

The third module is configured to estimate a new observed value of the rotor time constant according to the adjustable result obtained by the second module and the reference result determined by the first module, and send it to the second module as the rotor time constant observational amount.

It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the device and each module described above may refer to the corresponding process in the foregoing method embodiments, which is not repeated here. Repeat.

An embodiment of the present application further provides an electronic device, including a memory and a processor. A computer program running on the processor is stored on the memory. When the processor executes the computer program, the above-mentioned method for identifying parameters of an AC motor is implemented. A step of.

Embodiments of the present application further provide a storage medium, where a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned method for identifying parameters of an AC motor are implemented.

In the description of this application, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the application and simplifying the description, It is not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the application. Unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection, It can also be an electrical connection; it can be a direct connection, an indirect connection through an intermediate medium, or an internal connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply Any such actual relationship or sequence exists between these entities or operations. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device comprising a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

The above descriptions are only specific embodiments of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, this application is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims (10)

1. a method for identifying AC motor parameters, is characterized in that, comprises the following steps: According to the obtained stator three-phase current and three-phase flux linkage, determine a reference result; According to the three-phase current of the stator and the current rotor time constant, the flux linkage of the rotor in the αβ two-phase stationary coordinate system is jointly solved, and then an adjustable result is obtained through the flux linkage of the rotor; A new rotor time constant is obtained from the reference result and the adjustable result. 2 . The method for identifying parameters of an AC motor according to claim 1 , wherein the three-phase current of the stator and the current rotor time constant are jointly solved to obtain the magnetic field of the rotor in the αβ two-phase stationary coordinate system. 3 . The specific steps of the chain include: Parker transforms the three-phase current of the stator to obtain the current α and β axis components of the stator in the αβ two-phase static coordinate system; Substitute the current α and β axis components of the stator, the obtained rotor angular velocity and the current rotor time constant into the rotor flux linkage current model in the αβ two-phase static coordinate system to obtain the rotor flux linkage α and β axes. weight. 3. The method for identifying AC motor parameters as claimed in claim 2, wherein the mathematical formula of the rotor flux linkage current model is:

In the formula, ψ _rα and ψ _rβ are the α and β axis components of the rotor flux; i _sα , i _sβ are the α and β axis components of the stator current; T _r is the rotor time constant; p is the differential operator; ω _r is the rotor angular velocity; L _m is the mutual inductance between the stator and the rotor in the αβ two-phase stationary coordinate system. 4. The method for identifying AC motor parameters as claimed in claim 3, wherein the specific steps of obtaining an adjustable result through the flux linkage of the rotor include: Substitute the stator current α, β axis components and rotor flux linkage α, β axis components, as well as the acquired rotor angular velocity and the current rotor time constant into the set adjustable model to obtain adjustable results; wherein, the said The mathematical formula for the adjustable model is:

In the formula,

is the stator transient inductance; L _s is the stator self-inductance in the αβ two-phase stationary coordinate system, including the stator leakage inductance; L _m is the mutual inductance between the stator and the rotor in the αβ two-phase stationary coordinate system; L _r is the rotor self-inductance in the αβ two-phase stationary coordinate system, including the rotor leakage inductance; T _r is the rotor time constant; p is the differential operator;

is the stator current amplitude; ω _r is the rotor angular velocity; ψ _rα , ψ _rβ are the α and β axis components of the rotor flux; i _sα and is _β are the α and β axis components of the stator current. 5. The method for identifying AC motor parameters according to claim 4, wherein the specific step of determining a reference result according to the acquired three-phase current and three-phase flux linkage of the stator comprises: Obtain the stator flux linkage and stator current in the abc three-phase symmetrical coordinate system; Substitute the stator flux linkage and stator current into the set reference model to obtain the reference result; wherein, the data formula of the reference model is: F1=ψ _a i _a +ψ _b i _b +ψ _c i _c , In the formula, i _a , i _b , and i _c represent the three-phase currents of the stator a, b, and c, respectively; ψ _a , ψ _b , and ψ _c represent the three-phase flux linkages of the stator a, b, and c, respectively. 6. The method for identifying AC motor parameters according to claim 5, wherein the specific step of obtaining a new rotor time constant according to the reference result and the adjustable result comprises: Based on the difference between the reference result and the adjustable result, a new rotor time constant is determined. 7. The method for identifying parameters of an AC motor according to claim 5, wherein the specific step of obtaining a new rotor time constant according to the reference result and the adjustable result comprises: Substitute the reference result and the adjustable result into the Popov stability theoretical model to obtain a new rotor time constant; wherein, the mathematical formula of the Popov stability theoretical model is:

In the formula, k _p , _ki are proportional coefficients, F1 is the reference result, F2 is the adjustable result, and _Tr (0) is the rotor time constant at the initial moment. 8. A device for identifying AC motor parameters, comprising: a first module, configured to determine a reference result according to the acquired three-phase current and three-phase flux linkage of the stator; The second module is configured to jointly solve the current observation of the rotor time constant and the three-phase current of the stator to obtain the flux linkage of the rotor in the αβ two-phase stationary coordinate system, and then obtain a adjustable result; The third module is configured to estimate a new observed value of the rotor time constant according to the adjustable result obtained by the second module and the reference result determined by the first module, and send it to the second module as the rotor time constant observational amount. 9. An electronic device, comprising a computer program running on a processor stored on a memory and a processor memory, characterized in that, when the processor executes the computer program, the computer program according to any one of claims 1 to 7 is implemented. The steps of the method for identifying the parameters of the AC motor described above. 10. A storage medium storing a computer program on the storage medium, wherein when the computer program is executed by a processor, the steps of the method for identifying parameters of an AC motor according to any one of claims 1 to 7 are implemented. .

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