CN117081441B - Control method and device of permanent magnet synchronous motor - Google Patents
Control method and device of permanent magnet synchronous motor Download PDFInfo
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- CN117081441B CN117081441B CN202311335108.1A CN202311335108A CN117081441B CN 117081441 B CN117081441 B CN 117081441B CN 202311335108 A CN202311335108 A CN 202311335108A CN 117081441 B CN117081441 B CN 117081441B
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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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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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
- H02P21/22—Current control, e.g. using a current control loop
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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
- 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
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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
- 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
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The method comprises the steps of firstly obtaining a rotating speed signal of a permanent magnet synchronous motor at the current moment according to a rotating speed sensor, sequentially carrying out filtering treatment and compensation treatment on the current rotating speed signal to obtain an active damping compensation value, then obtaining a difference value between a current preset value of a q axis and the active damping compensation value in an initial current signal on the basis of the existing PID algorithm, and determining the current preset value of the compensation q axis as the difference value between the current preset value of the q axis and the active damping compensation value, thereby realizing one-step correction of the current of the q axis before a correction step of PID circulation, achieving the aim of considering the influence of motor rotating speed jitter, and further solving the problem that a control value after the current preset value of the d axis and the q axis of a stator of the permanent magnet synchronous motor is compensated in the PID algorithm of the existing scheme cannot avoid poor control efficiency of the motor due to motor rotating speed jitter.
Description
Technical Field
The application relates to the technical field of control of permanent magnet synchronous motors, in particular to a control method and device of a permanent magnet synchronous motor.
Background
The d-axis and q-axis current preset values of the stator of the permanent magnet synchronous motor are compensated in the PID algorithm, so that the permanent magnet motor is controlled, and the mechanical jitter degree of a bearing of the motor is not considered in the middle, so that the problem of motor rotation speed jitter caused by mechanical jitter commonly seen in a new energy whole vehicle power system cannot be solved.
The existing scheme has the disadvantages of poor instantaneity, adverse real-time control and easy reaction when the rotating speed is high, and the amplitude limiting module depends on torque precision (torque estimation or torque sensor), if the torque is estimated, a lot of torque precision can not reach 0.2N.m in practical application; in the case of a torque sensor, the cost is increased.
The problem that the control efficiency of the motor is poor due to the shaking of the motor rotating speed cannot be avoided by the control value after the d-axis current preset value and the q-axis current preset value of the stator of the permanent magnet synchronous motor are compensated in the PID algorithm of the existing scheme.
Disclosure of Invention
The main purpose of the present application is to provide a control method and apparatus for a permanent magnet synchronous motor, so as to at least solve the problem that the control value after compensating the current preset values of the d axis and the q axis of the stator of the permanent magnet synchronous motor in the PID algorithm of the existing scheme cannot avoid the poor control efficiency of the motor caused by the shaking of the motor rotation speed.
In order to achieve the above object, according to one aspect of the present application, there is provided a control method of a permanent magnet synchronous motor, the method comprising: acquiring a rotating speed signal of a permanent magnet synchronous motor at the current moment to obtain a current rotating speed signal, and performing filtering processing on the current rotating speed signal to obtain a filtered rotating speed differential signal; performing compensation processing on the filtered rotational speed differential signal to obtain an active damping compensation value; determining a compensation q-axis current preset value as a difference value between the q-axis current preset value of the stator of the permanent magnet synchronous motor and the active damping compensation value; and controlling the permanent magnet synchronous motor by adopting a PID algorithm according to the compensation q-axis current preset value and the d-axis current preset value of the stator.
Optionally, filtering the current rotation speed signal to obtain a filtered rotation speed differential signal, including:
filtering the current rotating speed signal by adopting a first low-pass filter to obtain a first low-pass rotating speed differential signal;
filtering the first low-pass rotational speed differential signal by adopting a high-pass filter to obtain a high-pass rotational speed differential signal;
and filtering the high-pass rotational speed differential signal by adopting a second low-pass filter to obtain a second low-pass rotational speed differential signal, and determining the filtered rotational speed differential signal as the second low-pass rotational speed differential signal.
Optionally, filtering the current rotation speed signal by using a first low-pass filter to obtain a first low-pass rotation speed differential signal, including:
constructing a first signal filtering expression according to the current rotating speed signal, the cut-off frequency of the first low-pass filter and a preset constant, wherein the first signal filtering expression comprises a product relation of the current rotating speed signal and the cut-off frequency of the first low-pass filter;
and determining the first low-pass rotational speed differential signal according to the first signal filtering expression.
Optionally, determining the first low-pass rotational speed differential signal according to the first signal filtering expression includes:
according toDetermining the first low-pass rotational speed differential signal;
wherein,for the first low-pass rotational speed differential signal, n is the motor actual rotational speed signal,/->And s is the Laplacian, which is the cut-off frequency of the first low-pass filter.
Optionally, filtering the first low-pass rotational speed differential signal by using a high-pass filter to obtain a high-pass rotational speed differential signal, including:
constructing a second signal filtering expression according to the first low-pass rotational speed differential signal, the cut-off frequency of the high-pass filter and a preset constant, wherein the second signal filtering expression comprises a ratio relation between the first low-pass rotational speed differential signal and the cut-off frequency of the high-pass filter;
And determining the high-pass rotational speed differential signal according to the second signal filtering expression.
Optionally, determining the high-pass rotational speed differential signal according to the second signal filtering expression includes:
according toDetermining the high-pass rotational speed differential signal;
wherein,for said first low-pass rotational speed differential signal, and (2)>For the high-pass rotational speed differential signal, +.>And s is the Laplacian, which is the cut-off frequency of the high-pass filter.
Optionally, filtering the high-pass rotational speed differential signal with a second low-pass filter to obtain a second low-pass rotational speed differential signal, including:
constructing a third signal filtering expression according to the high-pass rotational speed differential signal, the cut-off frequency of the second low-pass filter and a preset constant, wherein the third signal filtering expression comprises a product relation of the high-pass rotational speed differential signal and a third filtering coefficient, the third filtering coefficient is a ratio of the cut-off frequency of the second low-pass filter to a third sum value, and the third sum value is a sum of the cut-off frequency of the second low-pass filter and the preset constant;
and determining the second low-pass rotational speed differential signal according to the third signal filtering expression.
Optionally, determining the second low-pass rotational speed differential signal according to the third signal filtering expression includes:
according toDetermining the second low-pass rotational speed differential signal;
wherein,for said second low-pass rotational speed differential signal, and (2)>For the high-pass rotational speed differential signal, +.>And s is the Laplacian, which is the cut-off frequency of the second low-pass filter.
Optionally, performing compensation processing on the filtered rotational speed differential signal to obtain an active damping compensation value, including:
according toDetermining the active damping compensation value;
wherein,for the active damping compensation value, +.>For said second low-pass rotational speed differential signal, and (2)>Is a proportional coefficient->Is a limit value for the active damping compensation value.
According to another aspect of the present application, there is provided a control device of a permanent magnet synchronous motor, the device comprising:
the acquisition unit is used for acquiring a rotating speed signal of the permanent magnet synchronous motor at the current moment to obtain a current rotating speed signal, and performing filtering processing on the current rotating speed signal to obtain a filtered rotating speed differential signal;
the first processing unit is used for carrying out compensation processing on the filtered rotational speed differential signal to obtain an active damping compensation value;
The second processing unit is used for determining that the current preset value of the compensation q-axis is the difference value between the current preset value of the q-axis of the stator of the permanent magnet synchronous motor and the active damping compensation value;
and the third processing unit is used for controlling the permanent magnet synchronous motor by adopting a PID algorithm according to the compensation q-axis current preset value and the d-axis current preset value of the stator.
By using the technical scheme, the rotating speed signal of the permanent magnet synchronous motor at the current moment is acquired according to the rotating speed sensor, so that the follow-up analysis of the shaking influence in the rotating speed signal is facilitated, the filtering treatment and the compensation treatment are sequentially carried out on the current rotating speed signal, so that the shaking influence of the motor rotating speed is considered, an active damping compensation value is obtained, then the difference value between the current preset value of the q axis and the active damping compensation value in an initial current signal is obtained on the basis of the existing PID algorithm, the current preset value of the q axis is determined to be the difference value between the current preset value of the q axis and the active damping compensation value, the purpose of adding one step of correction of the current of the q axis before the correction step of PID circulation is achieved, the purpose of considering the shaking influence of the motor rotating speed is achieved, and the problem that the control value after the d axis and the current preset value of the q axis of the stator of the permanent magnet synchronous motor in the PID algorithm of the existing scheme cannot avoid the problem of poor control efficiency of the motor caused by shaking of the motor rotating speed is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
fig. 1 shows a flow chart of a control method of a permanent magnet synchronous motor according to an embodiment of the present application;
FIG. 2 shows a schematic diagram of a PID algorithm and correction procedure for q-axis current provided in accordance with an embodiment of the present application;
FIG. 3 shows a schematic diagram of a filtering process and a compensation process provided in accordance with an embodiment of the present application;
FIG. 4 illustrates a schematic diagram of the anti-shake effect of rotational speed provided in accordance with an embodiment of the present application;
fig. 5 shows a flow chart of another control method of a permanent magnet synchronous motor according to an embodiment of the present application;
fig. 6 shows a block diagram of a control device of a permanent magnet synchronous motor according to an embodiment of the present application.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As introduced in the background art, in the prior art, calculation is complex, so that instantaneity is poor, real-time control is not facilitated, reaction is easy to occur when the rotating speed is high, the amplitude limiting module depends on torque precision (torque estimation or torque sensor), and if the torque estimation is performed, a lot of torque precision can not reach 0.2 n.m in practical application; in the case of a torque sensor, the cost is increased. The control value after compensating the current preset values of the d axis and the q axis of the stator of the permanent magnet synchronous motor in the PID algorithm of the existing scheme cannot avoid the problem of poor control efficiency of the motor caused by motor rotation speed shaking, and the control method and the device for the permanent magnet synchronous motor are provided for solving the problem that the control value after compensating the current preset values of the d axis and the q axis of the stator of the permanent magnet synchronous motor in the PID algorithm of the existing scheme cannot avoid the problem of poor control efficiency of the motor caused by motor rotation speed shaking.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
In the present embodiment, a control method of a permanent magnet synchronous motor is provided, and it is to be noted that the steps shown in the flowchart of the drawing may be executed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that herein.
Fig. 1 is a flow chart of a control method of a permanent magnet synchronous motor according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
step S101, obtaining a rotating speed signal of a permanent magnet synchronous motor at the current moment to obtain a current rotating speed signal, and performing filtering processing on the current rotating speed signal to obtain a filtered rotating speed differential signal;
specifically, a rotating speed signal of the permanent magnet synchronous motor at the current moment needs to be obtained through a rotating speed sensor, so that the follow-up analysis of the shaking influence in the rotating speed signal is facilitated; firstly, filtering processing is carried out on the current rotating speed signal, so that frequency signals affecting subsequent operation can be filtered, jitter information in the current rotating speed signal can be accurately detected and extracted, and active damping compensation can be more accurately carried out;
in step S101, filtering the current rotation speed signal to obtain a filtered rotation speed differential signal, including:
filtering the current rotating speed signal by adopting a first low-pass filter to obtain a first low-pass rotating speed differential signal;
specifically, because the existing scheme is complex in calculation, the real-time performance is poor, the real-time control is not facilitated, the reaction is easy to occur when the rotating speed is high, the amplitude limiting module depends on the torque precision (torque estimation or torque sensor), and if the torque is estimated, the torque precision in practical application is not 0.2 N.m; in the case of a torque sensor, the cost is increased. The problem that the control efficiency of the motor is poor due to the shaking of the motor rotating speed cannot be avoided by the control value after the d-axis current preset value and the q-axis current preset value of the stator of the permanent magnet synchronous motor are compensated in the PID algorithm of the existing scheme, so that the signals lower than the cut-off frequency of the first low-pass filter can be allowed to pass through by adopting the first low-pass filter for filtering, useless frequency signals (namely signals higher than the cut-off frequency of the first low-pass filter) are screened out, and the filtered signals are poor from unprocessed signals.
In an embodiment of the present application, filtering the current rotation speed signal with a first low-pass filter to obtain a first low-pass rotation speed differential signal includes:
constructing a first signal filtering expression according to the current rotating speed signal, the cut-off frequency of the first low-pass filter and a preset constant, wherein the first signal filtering expression comprises a product relation of the current rotating speed signal and the cut-off frequency of the first low-pass filter; and determining the first low-pass rotational speed differential signal according to the first signal filtering expression.
Specifically, the first low-pass filter is adopted to filter signals lower than the cutoff frequency of the first low-pass filter, so that useless frequency signals (i.e. signals higher than the cutoff frequency of the first low-pass filter) are screened out, wherein the first signal filtering expression comprises the product relation of the current rotating speed signal and the cutoff frequency of the first low-pass filter, so that signals lower than the cutoff frequency of the first low-pass filter can pass, so that useless frequency signals are screened out, and the filtered signals are differenced from unprocessed signals;
The implementation mode is as follows: according toDetermining the first low-pass rotational speed differential signal;
wherein,n is the current rotation speed signal and is the first low-pass rotation speed differential signal>And s is the Laplacian, which is the cut-off frequency of the first low-pass filter.
Filtering the first low-pass rotational speed differential signal by adopting a high-pass filter to obtain a high-pass rotational speed differential signal;
in an embodiment of the present application, filtering the first low-pass rotational speed differential signal with a high-pass filter to obtain a high-frequency rotational speed differential signal includes:
constructing a second signal filtering expression according to the first low-pass rotational speed differential signal, the cut-off frequency of the high-pass filter and a preset constant, wherein the second signal filtering expression comprises a ratio relation between the first low-pass rotational speed differential signal and the cut-off frequency of the high-pass filter; determining the high frequency rotational speed differential signal according to the second signal filtering expression;
the high-pass filter is adopted for filtering, so that signals higher than the cut-off frequency of the high-pass filter can be allowed to pass, and signals lower than the cut-off frequency of the high-pass filter are screened out.
The implementation mode is as follows: according toDetermining the high-pass rotational speed differential signal;
wherein,for the first low-pass rotational speed differential signal, < >>For the high-pass rotational speed differential signal, +.>And s is the Laplacian, which is the cut-off frequency of the high-pass filter.
And filtering the high-pass rotational speed differential signal by adopting a second low-pass filter to obtain a second low-pass rotational speed differential signal, and determining the filtered rotational speed differential signal as the second low-pass rotational speed differential signal.
And finally, a second low-pass filter is adopted to filter the high-pass rotational speed differential signal, so that signals lower than the cutoff frequency of the second low-pass filter in the high-pass rotational speed differential signal are allowed to pass, signals higher than the cutoff frequency of the second low-pass filter in the high-pass rotational speed differential signal are filtered, frequency signals affecting subsequent operation can be filtered through the arrangement of the low-pass-high-pass-low-pass filter, jitter information in the current rotational speed signal can be accurately detected and extracted, and active damping compensation is facilitated to be more accurately carried out.
In an embodiment of the present application, filtering the high-pass rotational speed differential signal with a second low-pass filter to obtain a second low-pass rotational speed differential signal includes:
Constructing a third signal filtering expression according to the high-pass rotational speed differential signal, the cut-off frequency of the second low-pass filter and a preset constant, wherein the third signal filtering expression comprises a product relation of the high-pass rotational speed differential signal and a third filtering coefficient, the third filtering coefficient is a ratio of the cut-off frequency of the second low-pass filter to a third sum value, and the third sum value is a sum of the cut-off frequency of the second low-pass filter and the preset constant; and determining the second low-pass rotational speed differential signal according to the third signal filtering expression.
Specifically, the third signal filtering expression includes a product relationship between the high-pass rotational speed differential signal and a third filter coefficient, where the third filter coefficient is a ratio of a cut-off frequency of the second low-pass filter to a third sum value, and the third sum value is a sum of the cut-off frequency of the second low-pass filter and the preset constant, so that a signal lower than the cut-off frequency of the second low-pass filter in the high-pass rotational speed differential signal can be allowed to pass, and a signal higher than the cut-off frequency of the second low-pass filter in the high-pass rotational speed differential signal is filtered, so that jitter information in the current rotational speed signal can be accurately detected and extracted, and active damping compensation can be performed more accurately.
The implementation mode is as follows: according toDetermining the second low-pass rotational speed differential signal;
wherein,is the second low-pass rotational speed differential signal, < >>For the high-pass rotational speed differential signal, +.>And s is the preset constant for the cut-off frequency of the second low-pass filter.
Step S102, compensating the filtered rotational speed differential signal to obtain an active damping compensation value;
step S102, namely, compensating the filtered rotational speed differential signal to obtain an active damping compensation value, comprising:
according to，
Determining the active damping compensation value;
wherein,for the active damping compensation value, +.>Is the second low-pass rotational speed differential signal, < >>Is a proportional coefficient->Is the limit value of the active damping compensation value.
Specifically, sign is used for extracting positive and negative of the second low-pass rotational speed differential signal, and because the active damping compensation value is determined to be 0 under the condition that the absolute value of the product of the second low-pass rotational speed differential signal and the proportionality coefficient is larger than the absolute value of the limit value of the active damping compensation value, the excessive compensation can be avoided, the value of the proportionality coefficient is taken according to whether the actual rotational speed fluctuation after the active damping compensation is implemented is improved, specifically, if the rotational speed fluctuation becomes larger, the proportionality coefficient value is reduced, and if the rotational speed fluctuation is improved (namely, the fluctuation is more gentle), the proportionality coefficient is increased.
And under the condition that the absolute value of the product of the second low-pass rotational speed differential signal and the proportional coefficient is smaller than or equal to the absolute value of the limit value of the active damping compensation value, taking the minimum value of the absolute value of the product of the second low-pass rotational speed differential signal and the proportional coefficient and the absolute value of the limit value of the active damping compensation value to multiply with the second low-pass rotational speed differential signal, and finally obtaining the limit value of the active damping compensation value, wherein the limit value of the active damping compensation value is obtained.
Step S103, determining a compensation q-axis current preset value as a difference value between the q-axis current preset value of the stator of the permanent magnet synchronous motor and the active damping compensation value;
specifically, the difference between the q-axis current preset value of the stator of the permanent magnet synchronous motor and the active damping compensation value is determined to be the compensation q-axis current preset value, so that the compensation of the q-axis current signal in the initial current signal is realized, jitter in the motor rotating speed signal is considered in the compensation, and the follow-up control of the motor is more accurate.
And step S104, controlling the permanent magnet synchronous motor by adopting a PID algorithm according to the compensation q-axis current preset value and the d-axis current preset value of the stator.
The control strategy of the permanent magnet synchronous motor adopts speed and current double closed-loop control, and the specific control process of the current loop and the rotating speed loop adopting the traditional PI controller is shown in figure 2:
(1): obtaining the actual rotation speed n of PMSM (permanent magnet synchronous motor) by rotation speed position and rotation speed sensor according to the required rotation speed n ref The difference value between the actual rotation speed n and the actual rotation speed n is used as the input of a rotation speed loop PI controller, the rotation speed loop PI controller is used for calculating the required torque, and meanwhile, according to the actual rotation speed, an active damping compensation value iq is obtained through an active damping compensation value calculation module cmp ；
(2): according to MTPA (maximum torque to current) strategy, according to the required torque, the required rotational speed and iq cmp Respectively obtaining d-axis reference current i d * And q-axis reference current i q * ；
(3): acquiring an actual three-phase current i of a PMSM (permanent magnet synchronous motor) by means of a current sensor A 、i B 、i C For the obtained actual three-phase current i A 、i B 、i C Clark transformation and Park transformation are sequentially carried out, and d-axis actual current i under a d/q coordinate system is obtained through transformation d And q-axis actual current i q Then respectively calculating the deviation of d/q axis reference current and d/q axis actual current, respectively taking the calculated d/q axis current deviation as the input of a d/q axis current loop PI controller, and respectively calculating through d/q axis PI current loops to obtain d axis voltage control quantity u d And q-axis voltage control amount u q ；
(4): obtaining the d-axis voltage control quantity u d And q-axis voltage control amount u q Then, the d-axis voltage control quantity u in the d/q coordinate system is obtained by inverse Park conversion d And q-axis voltage control amount u q Conversion to control quantity u in alpha/beta axis α And u β And then generating a duty ratio through an SVPWM (space vector pulse width modulation) algorithm, and controlling the switching state of the three-phase inverter through the duty ratio so as to control the permanent magnet synchronous motor.
According to the method, the rotating speed signal of the permanent magnet synchronous motor at the current moment is acquired according to the rotating speed sensor, so that the follow-up analysis of the shaking influence in the rotating speed signal is facilitated, the filtering treatment and the compensation treatment are sequentially carried out on the current rotating speed signal, the shaking influence of the rotating speed of the motor is considered, an active damping compensation value is obtained, then the difference value between the current preset value of the q axis in an initial current signal and the active damping compensation value is obtained on the basis of the existing PID algorithm, the current preset value of the q axis is determined to be the difference value between the current preset value of the q axis and the active damping compensation value, the purpose that the current of the q axis is corrected by one step before the correction step of PID circulation is achieved, the purpose of considering the shaking influence of the rotating speed of the motor is achieved, and the problem that the control value after the d axis and the current preset value of the q axis of the stator of the permanent magnet synchronous motor are compensated in the PID algorithm of the existing scheme cannot be poor in control efficiency of the motor due to shaking of the rotating speed of the motor is solved.
The torque calculation formula of the permanent magnet synchronous motor is as follows:，
te is torque, n p Is the pole pair number L of the motor d And L q Inductance, i of d/q axes respectively d And i q Current of d/q axes respectively,Is a flux linkage. The motor torque value is proportional to the q-axis current and the q-axis current has a greater effect on the final torque output than the q-axis current, so it is believed that compensating the q-axis current will directly affect the motor output torque value. The book is provided withThe method comprises the steps of extracting a rotating speed signal of a motor rotating speed sensor, processing the rotating speed signal by using a three-stage filter (low-pass-high-pass-low-pass filter setting) to obtain a rotating speed jitter component, further calculating current of a compensation q-axis, and finally achieving the effect of suppressing the rotating speed jitter.
The specific process is shown in fig. 3, and will not be described again here.
As shown in fig. 4, fig. 4 shows a schematic view of the anti-shake effect of the rotational speed. It can be seen that by using the method provided by the application, the motor rotation speed shaking amplitude is obviously reduced, the rotation speed fluctuation of 91rpm can be reduced to the maximum, the anti-shaking effect is obvious, and the real-time response is good. In addition, the situation that the reactive action is caused by the fact that the active damping compensation is not too large can be observed, so that the method further illustrates that jitter information in a rotating speed signal can be accurately detected and extracted, and an active damping compensation value of the current of the q-axis can be accurately calculated.
In order to enable those skilled in the art to more clearly understand the technical solutions of the present application, the implementation process of the control method of the permanent magnet synchronous motor of the present application will be described in detail below with reference to specific embodiments.
Because the existing scheme is complex in calculation, the real-time performance is poor, the real-time control is not facilitated, the reaction is easy to occur when the rotating speed is high, the amplitude limiting module depends on the torque precision (torque estimation or torque sensor), and if the torque is estimated, in actual application, a lot of torque precision can not reach 0.2 N.m; in the case of a torque sensor, the cost is increased. That is, in the PID algorithm of the existing scheme, the control value after compensating the current preset values of the d axis and the q axis of the stator of the permanent magnet synchronous motor cannot avoid the problem of poor control efficiency of the motor caused by the shaking of the motor rotation speed, so the embodiment relates to a specific control method of the permanent magnet synchronous motor, as shown in fig. 5, which comprises the following steps:
step S1: acquiring a rotating speed signal of the permanent magnet synchronous motor at the current moment to obtain a current rotating speed signal;
step S2: filtering the current rotating speed signal by adopting a first low-pass filter to obtain a first low-pass rotating speed differential signal;
Specifically, a first signal filtering expression is constructed according to the current rotating speed signal, the cut-off frequency of the first low-pass filter and a preset constant, wherein the first signal filtering expression comprises a product relation of the current rotating speed signal and the cut-off frequency of the first low-pass filter;
determining the first low-pass rotational speed differential signal according to the first signal filtering expression;
according toDetermining the first low-pass rotational speed differential signal;
wherein,n is the current rotation speed signal and is the first low-pass rotation speed differential signal>And s is the Laplacian, which is the cut-off frequency of the first low-pass filter.
Step S3: filtering the first low-pass rotational speed differential signal by adopting a high-pass filter to obtain a high-pass rotational speed differential signal;
specifically, a second signal filtering expression is constructed according to the first low-pass rotational speed differential signal, the cutoff frequency of the high-pass filter and a preset constant, wherein the second signal filtering expression comprises a ratio relation between the first low-pass rotational speed differential signal and the cutoff frequency of the high-pass filter;
and determining the high-pass rotational speed differential signal according to the second signal filtering expression.
According toDetermining the high-pass rotational speed differential signal;
wherein,for the first low-pass rotational speed differential signal, < >>For the high-pass rotational speed differential signal, +.>And s is the Laplacian, which is the cut-off frequency of the high-pass filter.
Step S4: filtering the high-pass rotational speed differential signal by a second low-pass filter to obtain a second low-pass rotational speed differential signal, and determining the filtered rotational speed differential signal as the second low-pass rotational speed differential signal;
specifically, a third signal filtering expression is constructed according to the high-pass rotational speed differential signal, the cut-off frequency of the second low-pass filter and a preset constant, wherein the third signal filtering expression comprises a product relation of the high-pass rotational speed differential signal and a third filtering coefficient, the third filtering coefficient is a ratio of the cut-off frequency of the second low-pass filter to a third sum value, and the third sum value is a sum of the cut-off frequency of the second low-pass filter and the preset constant;
and determining the second low-pass rotational speed differential signal according to the third signal filtering expression.
According toDetermining the second low-pass rotational speed differential signal;
wherein, Is the second low-pass rotational speed differential signal, < >>For the high-pass rotational speed differential signal, +.>And s is the Laplacian, which is the cut-off frequency of the second low-pass filter.
Step S5: determining the preset q-axis current compensation value as the difference value between the preset q-axis current value of the stator of the permanent magnet synchronous motor and the active damping compensation value;
in particular according to，
Determining the active damping compensation value;
wherein,for the active damping compensation value, +.>Is the second low-pass rotational speed differential signal, < >>Is a proportional coefficient->A limit value for the active damping compensation value;
step S6: and controlling the permanent magnet synchronous motor by adopting a PID algorithm according to the compensation q-axis current preset value and the d-axis current preset value of the stator.
Firstly, a rotating speed signal of a permanent magnet synchronous motor at the current moment is obtained according to a rotating speed sensor, so that the follow-up analysis of the shaking influence in the rotating speed signal is facilitated, the filtering treatment and the compensation treatment are sequentially carried out on the current rotating speed signal, so that the shaking influence of the motor rotating speed is considered, an active damping compensation value is obtained, then, on the basis of the existing PID algorithm, the difference value between a current preset value of a q axis in an initial current signal and the active damping compensation value is obtained, the current preset value of the compensation q axis is determined to be the difference value between the current preset value of the q axis and the active damping compensation value, the purpose that the current of the q axis is corrected by one step before the correction step of PID circulation is achieved, the purpose of considering the shaking influence of the motor rotating speed is achieved, and the problem that the control value after the compensation is carried out on the current preset values of the d axis and the q axis of the stator of the permanent magnet synchronous motor in the PID algorithm of the existing scheme cannot avoid the problem of poor control efficiency of the motor due to the shaking of the motor rotating speed is solved.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
The embodiment of the application also provides a control device of the permanent magnet synchronous motor, and the control device of the permanent magnet synchronous motor can be used for executing the control method for the permanent magnet synchronous motor. The device is used for realizing the above embodiments and preferred embodiments, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
The following describes a control device of a permanent magnet synchronous motor provided in an embodiment of the present application.
Fig. 6 is a block diagram of a control device for a permanent magnet synchronous motor according to an embodiment of the present application. As shown in fig. 6, the apparatus includes:
An obtaining unit 61, configured to obtain a current rotation speed signal from a rotation speed signal of the permanent magnet synchronous motor at a current time, and perform filtering processing on the current rotation speed signal to obtain a filtered rotation speed differential signal;
a first processing unit 62, configured to perform compensation processing on the filtered rotational speed differential signal to obtain an active damping compensation value;
a second processing unit 63, configured to determine a compensation q-axis current preset value as a difference value between the q-axis current preset value of the stator of the permanent magnet synchronous motor and the active damping compensation value;
and a third processing unit 64 for controlling the permanent magnet synchronous motor according to the compensation q-axis current preset value and the d-axis current preset value of the stator by using a PID algorithm.
According to the device, the rotating speed signal of the permanent magnet synchronous motor at the current moment is acquired according to the rotating speed sensor, so that the follow-up analysis of the shaking influence in the rotating speed signal is facilitated, the filtering treatment and the compensation treatment are sequentially carried out on the current rotating speed signal, the shaking influence of the rotating speed of the motor is considered, an active damping compensation value is obtained, then the difference value between the current preset value of the q axis in the initial current signal and the active damping compensation value is obtained on the basis of the existing PID algorithm, the current preset value of the q axis is determined to be the difference value between the current preset value of the q axis and the active damping compensation value, the purpose that the current of the q axis is corrected by one step before the correction step of PID circulation is achieved, the purpose of considering the shaking influence of the rotating speed of the motor is achieved, and the problem that the control value after the d axis and the current preset value of the q axis of the stator of the permanent magnet synchronous motor are compensated in the PID algorithm of the existing scheme cannot be poor in control efficiency of the motor due to shaking of the rotating speed of the motor is solved.
In one embodiment of the present application, the acquisition unit includes a first processing module, a second processing module, and a third processing module;
the first processing module is used for filtering the current rotating speed signal by adopting a first low-pass filter to obtain a first low-pass rotating speed differential signal;
the second processing module is used for filtering the first low-pass rotational speed differential signal by adopting a high-pass filter to obtain a high-pass rotational speed differential signal;
the third processing module is configured to perform filtering processing on the high-pass rotational speed differential signal by using a second low-pass filter, obtain a second low-pass rotational speed differential signal, and determine the filtered rotational speed differential signal as the second low-pass rotational speed differential signal.
In one embodiment of the present application, the first processing module includes a first build sub-module and a first determination sub-module;
the first construction submodule is used for constructing a first signal filtering expression according to the current rotating speed signal, the cut-off frequency of the first low-pass filter and a preset constant, wherein the first signal filtering expression comprises a product relation of the current rotating speed signal and the cut-off frequency of the first low-pass filter;
the first determining submodule is used for determining the first low-pass rotational speed differential signal according to the first signal filtering expression.
In one embodiment of the present application, the first determination submodule includes a first processing submodule;
the first processing submodule is used for processing according toDetermining the first low-pass rotational speed differential signal;
wherein,n is the current rotation speed signal and is the first low-pass rotation speed differential signal>And s is the Laplacian, which is the cut-off frequency of the first low-pass filter.
In one embodiment of the present application, the second processing module includes a second build sub-module and a second determination sub-module;
the second construction submodule is used for constructing a second signal filtering expression according to the first low-pass rotational speed differential signal, the cut-off frequency of the high-pass filter and a preset constant, and the second signal filtering expression comprises a ratio relation between the first low-pass rotational speed differential signal and the cut-off frequency of the high-pass filter;
the second determining submodule is used for determining the high-pass rotating speed differential signal according to the second signal filtering expression.
In one embodiment of the present application, the second determination submodule includes a second processing submodule;
the second processing submodule is used for processing according toDetermining the high-pass rotational speedDifferentiating the signal;
wherein,for the first low-pass rotational speed differential signal, < > >For the high-pass rotational speed differential signal, +.>And s is the Laplacian, which is the cut-off frequency of the high-pass filter. />
In one embodiment of the present application, the third processing module includes a third build sub-module and a third determination sub-module;
the third construction submodule is used for constructing a third signal filtering expression according to the high-pass rotational speed differential signal, the cut-off frequency of the second low-pass filter and a preset constant, wherein the third signal filtering expression comprises a multiplication relation of the high-pass rotational speed differential signal and a third filtering coefficient, the third filtering coefficient is a ratio of the cut-off frequency of the second low-pass filter to a third sum value, and the third sum value is a sum of the cut-off frequency of the second low-pass filter and the preset constant;
and the third determining submodule is used for determining the second low-pass rotational speed differential signal according to the third signal filtering expression.
In one embodiment of the present application, the third determination submodule includes a third processing submodule;
the third processing submodule is used for processing according toDetermining the second low-pass rotational speed differential signal;
wherein,is the second low-pass rotational speed differential signal, < >>Is as described above High-pass rotational speed differential signal, ">And s is the preset constant for the cut-off frequency of the second low-pass filter.
In one embodiment of the present application, the second processing unit includes a fourth processing module;
the fourth processing module is used for processing the processed data,
according to，
Determining the active damping compensation value;
wherein,for the active damping compensation value, +.>Is the second low-pass rotational speed differential signal, < >>Is a proportional coefficient->Is the limit value of the active damping compensation value.
The control device of the permanent magnet synchronous motor comprises a processor and a memory, wherein the acquisition unit, the first processing unit, the second processing unit, the third processing unit and the like are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions. The modules are all located in the same processor; alternatively, the above modules may be located in different processors in any combination.
The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The inner core can be provided with one or more than one, and the problem that the control value after the current preset values of the d axis and the q axis of the stator of the permanent magnet synchronous motor are compensated in the PID algorithm of the existing scheme cannot avoid the poor control efficiency of the motor caused by the shaking of the rotating speed of the motor is solved by adjusting the inner core parameters.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.
The embodiment of the invention provides a computer readable storage medium, which comprises a stored program, wherein the program is used for controlling equipment where the computer readable storage medium is positioned to execute the control method of the permanent magnet synchronous motor.
The embodiment of the invention provides a processor, which is used for running a program, wherein the control method of the permanent magnet synchronous motor is executed when the program runs.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the processor realizes at least the following steps when executing the program: acquiring a rotating speed signal of the permanent magnet synchronous motor at the current moment to obtain a current rotating speed signal, and performing filtering processing on the current rotating speed signal to obtain a filtered rotating speed differential signal; performing compensation processing on the filtered rotational speed differential signal to obtain an active damping compensation value; determining the preset q-axis current compensation value as the difference value between the preset q-axis current value of the stator of the permanent magnet synchronous motor and the active damping compensation value; and controlling the permanent magnet synchronous motor by adopting a PID algorithm according to the compensation q-axis current preset value and the d-axis current preset value of the stator. The device herein may be a server, PC, PAD, cell phone, etc.
The present application also provides a computer program product adapted to perform a program initialized with at least the following method steps when executed on a data processing device: acquiring a rotating speed signal of the permanent magnet synchronous motor at the current moment to obtain a current rotating speed signal, and performing filtering processing on the current rotating speed signal to obtain a filtered rotating speed differential signal; performing compensation processing on the filtered rotational speed differential signal to obtain an active damping compensation value; determining the preset q-axis current compensation value as the difference value between the preset q-axis current value of the stator of the permanent magnet synchronous motor and the active damping compensation value; and controlling the permanent magnet synchronous motor by adopting a PID algorithm according to the compensation q-axis current preset value and the d-axis current preset value of the stator.
It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may be implemented in program code executable by computing devices, so that they may be stored in a storage device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or 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-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:
1) According to the control method of the permanent magnet synchronous motor, firstly, a rotating speed signal of the permanent magnet synchronous motor at the current moment is obtained according to the rotating speed sensor, so that the follow-up analysis of the shaking influence in the rotating speed signal is facilitated, the filtering treatment and the compensation treatment are sequentially carried out on the current rotating speed signal, so that the motor rotating speed shaking influence is considered, an active damping compensation value is obtained, then, on the basis of the existing PID algorithm, the difference value between the current preset value of the q axis in an initial current signal and the active damping compensation value is obtained, the current preset value of the q axis is determined to be the difference value between the current preset value of the q axis and the active damping compensation value, the purpose that the current of the q axis is corrected by one step before the correction step of PID circulation is achieved, the purpose of considering the motor rotating speed shaking influence is achieved, and the problem that the control value after the current preset value of the d axis and the q axis of the stator of the permanent magnet synchronous motor is compensated in the PID algorithm of the existing scheme cannot cause poor control efficiency of the motor due to the motor rotating speed shaking is solved.
2) According to the control device of the permanent magnet synchronous motor, firstly, a rotating speed signal of the permanent magnet synchronous motor at the current moment is obtained according to the rotating speed sensor, so that the follow-up analysis of the shaking influence in the rotating speed signal is facilitated, the filtering treatment and the compensation treatment are sequentially carried out on the current rotating speed signal, so that the motor rotating speed shaking influence is considered, an active damping compensation value is obtained, then, on the basis of the existing PID algorithm, the difference value between the current preset value of the q axis in an initial current signal and the active damping compensation value is obtained, the current preset value of the q axis is determined to be the difference value between the current preset value of the q axis and the active damping compensation value, the purpose that the current of the q axis is corrected by one step before the correction step of PID circulation is achieved, the purpose of considering the motor rotating speed shaking influence is achieved, and the problem that the control value after the current preset value of the d axis and the q axis of the stator of the permanent magnet synchronous motor is compensated in the PID algorithm of the existing scheme cannot cause poor control efficiency of the motor due to the motor rotating speed shaking is solved.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (8)
1. A control method of a permanent magnet synchronous motor, characterized by comprising:
acquiring a rotating speed signal of a permanent magnet synchronous motor at the current moment to obtain a current rotating speed signal, and performing filtering processing on the current rotating speed signal to obtain a filtered rotating speed differential signal;
performing compensation processing on the filtered rotational speed differential signal to obtain an active damping compensation value;
determining a compensation q-axis current preset value as a difference value between the q-axis current preset value of the stator of the permanent magnet synchronous motor and the active damping compensation value;
a PID algorithm is adopted, and the permanent magnet synchronous motor is controlled according to the compensation q-axis current preset value and the d-axis current preset value of the stator;
filtering the current rotation speed signal to obtain a filtered rotation speed differential signal, wherein the filtering comprises the following steps:
filtering the current rotating speed signal by adopting a first low-pass filter to obtain a first low-pass rotating speed differential signal;
Filtering the first low-pass rotational speed differential signal by adopting a high-pass filter to obtain a high-pass rotational speed differential signal;
filtering the high-pass rotational speed differential signal by adopting a second low-pass filter to obtain a second low-pass rotational speed differential signal, and determining the filtered rotational speed differential signal as the second low-pass rotational speed differential signal;
and compensating the filtered rotational speed differential signal to obtain an active damping compensation value, wherein the method comprises the following steps of:
according toDetermining the active damping compensation value;
wherein,for the active damping compensation value, +.>For the second low-pass rotational speed differential signal, lambda is a scaling factor,is a limit value for the active damping compensation value.
2. The method of claim 1, wherein filtering the current rotational speed signal with a first low pass filter to obtain a first low pass rotational speed differential signal comprises:
constructing a first signal filtering expression according to the current rotating speed signal, the cut-off frequency of the first low-pass filter and a preset constant, wherein the first signal filtering expression comprises a product relation of the current rotating speed signal and the cut-off frequency of the first low-pass filter;
And determining the first low-pass rotational speed differential signal according to the first signal filtering expression.
3. The method of claim 2, wherein determining the first low-pass rotational speed differential signal based on the first signal filtering expression comprises:
according toDetermining the first low-pass rotational speed differential signal;
wherein,for the first low-pass rotational speed differential signal, n is the current rotational speed signal, +.>And s is the Laplacian, which is the cut-off frequency of the first low-pass filter.
4. The method of claim 1, wherein filtering the first low-pass rotational speed differential signal with a high-pass filter to obtain a high-pass rotational speed differential signal comprises:
constructing a second signal filtering expression according to the first low-pass rotational speed differential signal, the cut-off frequency of the high-pass filter and a preset constant, wherein the second signal filtering expression comprises a ratio relation between the first low-pass rotational speed differential signal and the cut-off frequency of the high-pass filter;
and determining the high-pass rotational speed differential signal according to the second signal filtering expression.
5. The method of claim 4, wherein determining the high pass rotational speed differential signal based on the second signal filtering expression comprises:
According toDetermining the high-pass rotational speed differential signal;
wherein,for said first low-pass rotational speed differential signal, and (2)>The high-pass rotational speed differential signal, ">And s is the Laplacian, which is the cut-off frequency of the high-pass filter.
6. The method of claim 1, wherein filtering the high pass rotational speed differential signal with a second low pass filter to obtain a second low pass rotational speed differential signal comprises:
constructing a third signal filtering expression according to the high-pass rotational speed differential signal, the cut-off frequency of the second low-pass filter and a preset constant, wherein the third signal filtering expression comprises a product relation of the high-pass rotational speed differential signal and a third filtering coefficient, the third filtering coefficient is a ratio of the cut-off frequency of the second low-pass filter to a third sum value, and the third sum value is a sum of the cut-off frequency of the second low-pass filter and the preset constant;
and determining the second low-pass rotational speed differential signal according to the third signal filtering expression.
7. The method of claim 6, wherein determining the second low-pass rotational speed differential signal based on the third signal filtering expression comprises:
According toDetermining the second low-pass rotational speed differential signal;
wherein,for said second low-pass rotational speed differential signal, and (2)>For the high-pass rotational speed differential signal, +.>And s is the Laplacian, which is the cut-off frequency of the second low-pass filter.
8. A control device for a permanent magnet synchronous motor, comprising:
the acquisition unit is used for acquiring a rotating speed signal of the permanent magnet synchronous motor at the current moment to obtain a current rotating speed signal, and performing filtering processing on the current rotating speed signal to obtain a filtered rotating speed differential signal;
the first processing unit is used for carrying out compensation processing on the filtered rotational speed differential signal to obtain an active damping compensation value;
the second processing unit is used for determining that the current preset value of the compensation q-axis is the difference value between the current preset value of the q-axis of the stator of the permanent magnet synchronous motor and the active damping compensation value;
the third processing unit is used for controlling the permanent magnet synchronous motor according to the compensation q-axis current preset value and the d-axis current preset value of the stator by adopting a PID algorithm;
the acquisition unit comprises a first processing module, a second processing module and a third processing module;
the first processing module is used for filtering the current rotating speed signal by adopting a first low-pass filter to obtain a first low-pass rotating speed differential signal;
The second processing module is used for filtering the first low-pass rotational speed differential signal by adopting a high-pass filter to obtain a high-pass rotational speed differential signal;
the third processing module is used for filtering the high-pass rotational speed differential signal by adopting a second low-pass filter to obtain a second low-pass rotational speed differential signal, and determining the filtered rotational speed differential signal as the second low-pass rotational speed differential signal;
the second processing unit comprises a fourth processing module;
the fourth processing module is used for processing the processed data,
，
determining the active damping compensation value;
wherein,for the active damping compensation value, +.>Is the second low-pass rotational speed differential signal, < >>Is a coefficient of proportionality and is used for the control of the power supply,is the limit value of the active damping compensation value.
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