CN118232784B - State monitoring system and method for non-inductive permanent magnet synchronous motor - Google Patents
State monitoring system and method for non-inductive permanent magnet synchronous motor Download PDFInfo
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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Abstract
The invention provides a state monitoring system and a method for a non-inductive permanent magnet synchronous motor, wherein a current processing module is used for acquiring rated current, rated voltage, actual current and actual voltage; the reference torque determining module is used for obtaining a reference load torque; the actual torque determining module is used for obtaining actual load torque; the difference curve generation module is used for constructing a load torque difference curve; the fault prediction module is used for predicting a fault time point when the load torque difference value is larger than a preset difference value threshold value; the current difference value determining module is used for determining a current load torque difference value; the state judging module is used for judging whether the permanent magnet synchronous motor is in a fault state, a normal state or a state to be failed; the fault elimination time is saved, and the fault condition of the motor under the working condition of load can be more accurately determined.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a state monitoring system and method of a non-inductive permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor (PERMANENT MAGNET Synchronous Motor, PMSM) uses permanent magnet excitation to replace excitation winding excitation in the synchronous motor, so that the motor structure is simpler, the processing and assembly cost is reduced, meanwhile, a collector ring and an electric brush which are easy to cause problems are omitted, and the operation reliability of the motor is improved. Because exciting current is not needed, exciting loss is avoided, and the working efficiency of the motor is improved. In order to determine whether the permanent magnet synchronous motor has failed, a plurality of sensors are typically required to be disposed within the permanent magnet synchronous motor to obtain operating parameters from which it is determined whether the permanent magnet synchronous motor has failed. However, with the development of technology, the defects of large error and high fault probability exist in the monitoring of working parameters of the sensor, so that the non-inductive control of the permanent magnet synchronous motor is rapidly developed. However, whether the permanent magnet synchronous motor fails or not is determined through non-inductive control, the permanent magnet synchronous motor is required to work under the rated working condition, the obtained value is compared with the rated value, and whether the permanent magnet synchronous motor fails or not is determined. Therefore, the load needs to be disconnected at the time of trouble shooting, making the operation cumbersome. Moreover, the states of the motor in no-load and load have large difference, so that the situation that the normal load of no-load has a problem occurs.
In view of the above, the invention provides a system and a method for monitoring the state of a non-inductive permanent magnet synchronous motor, which save the steps of fault elimination and can more accurately determine the faults of the motor under the working condition of load.
Disclosure of Invention
The invention aims to provide a state monitoring system of a non-inductive permanent magnet synchronous motor, which comprises a current processing module, a reference torque determining module, an actual torque determining module, a difference curve generating module, a fault predicting module, a current difference determining module and a state judging module; the current processing module is used for obtaining rated current, rated voltage and actual current and actual voltage of the permanent magnet synchronous motor at a plurality of time points; the reference torque determining module is used for obtaining reference load torques under load working conditions at a plurality of time points based on the rated current and the rated voltage; the actual torque determining module is used for obtaining actual load torques under the load working conditions at a plurality of time points based on the actual currents and the actual voltages at a plurality of time points; the difference curve generation module is used for constructing a load torque difference curve according to time sequence based on the difference value of the reference load torque and the actual load torque; the fault prediction module is used for predicting a fault time point when the load torque difference value is larger than a preset difference value threshold value based on the load torque difference value curve; the current difference value determining module is used for determining current actual load torque and current reference load torque and obtaining a current load torque difference value; the state judging module is used for determining that the permanent magnet synchronous motor is in a fault state when the current load torque difference value is larger than the preset difference value threshold value; when the current load torque difference value is smaller than or equal to the preset difference value threshold value and the current time is before the fault time point, determining that the permanent magnet synchronous motor is in a normal state; and when the current load torque difference value is smaller than or equal to the preset difference value threshold value and the current time is the fault time point or after the fault time point, determining that the permanent magnet synchronous motor is in a state to be in fault.
Further, the obtaining the reference load torque under the load working condition at a plurality of time points includes: calculating an actual current value based on a difference between the actual back electromotive force and the rated back electromotive force; determining a flux linkage based on the actual back emf and the actual current value; determining an electromagnetic torque based on the flux linkage and the actual current value; the reference load torque is determined based on the electromagnetic torque.
Further, the expression for calculating the actual current value is:
；
Wherein, Representing the actual back emf of the measured d-axis; representing the rated back electromotive force of the d-axis; Representing the stator resistance; representing the actual current value of the d-axis; a rated current value representing the d-axis; Representing d-axis inductance; representing the measured actual back emf of the q-axis; Represents the rated back EMF of the q-axis; representing the actual current value of the q-axis; a rated current value representing the q-axis; representing q-axis inductance; t represents time;
the expression for determining the flux linkage is as follows:
；
Wherein, Representing flux linkage; Representing the stator inductance; t represents time;
the expression for determining the electromagnetic torque is:
；
Wherein, Representing electromagnetic torque; p represents the pole pair number of the motor;
the expression for determining the reference load torque is:
；
Wherein, Representing a reference load torque; representing the moment of inertia of the rotor; indicating the rated angular velocity of the motor.
Further, obtaining actual load torque under the load condition at a plurality of time points includes: constructing a control function based on the angular speed and the position of the permanent magnet synchronous motor; determining a sliding curve and a candidate function based on the control function; determining a control parameter based on the sliding curve and the candidate function; the actual load torque is determined based on the control parameter.
Further, the expression of the control function is:
；
Wherein t represents time; representing observed angular velocity And actual angular velocityIs the difference of (1)；Representing the moment of inertia of the rotor; representing the observed torque; representing the actual torque; Representing a first control parameter; Representing a sign function; Representing the observation position And the actual positionIs the difference of (1)；Representing a second control parameter;
The sliding curve has the expression:
；
Wherein, Representing a first sliding curve; Representing a second sliding curve;
the expression of the candidate function is:
；
Wherein, Representing a first candidate function; representing a second candidate function;
the value range of the control parameter is as follows:
；
the expression of the actual load torque is:
；
Wherein, Representing the actual load torque; indicating the rated electromagnetic torque.
The invention also aims to provide a method for monitoring the state of the noninductive permanent magnet synchronous motor based on the state monitoring system of the noninductive permanent magnet synchronous motor, which comprises the following steps: acquiring rated current, rated voltage and actual current and actual voltage of a permanent magnet synchronous motor at a plurality of time points; obtaining reference load torque under load working conditions at a plurality of time points based on the rated current and the rated voltage; obtaining actual load torque under the load working conditions at a plurality of time points based on the actual current and the actual voltage at a plurality of time points; constructing a load torque difference curve in time sequence based on the difference between the reference load torque and the actual load torque; predicting a fault time point when the load torque difference is greater than a preset difference threshold based on the load torque difference curve; determining a current actual load torque and a current reference load torque, and obtaining a current load torque difference value; when the current load torque difference value is larger than the preset difference value threshold value, determining that the permanent magnet synchronous motor is in a fault state; when the current load torque difference value is smaller than or equal to the preset difference value threshold value and the current time is before the fault time point, determining that the permanent magnet synchronous motor is in a normal state; and when the current load torque difference value is smaller than or equal to the preset difference value threshold value and the current time is the fault time point or after the fault time point, determining that the permanent magnet synchronous motor is in a state to be in fault.
Further, the obtaining the reference load torque under the load working condition at a plurality of time points includes: calculating an actual current value based on a difference between the actual back electromotive force and the rated back electromotive force; determining a flux linkage based on the actual back emf and the actual current value; determining an electromagnetic torque based on the flux linkage and the actual current value; the reference load torque is determined based on the electromagnetic torque.
Further, the expression for calculating the actual current value is:
；
Wherein, Representing the actual back emf of the measured d-axis; representing the rated back electromotive force of the d-axis; Representing the stator resistance; representing the actual current value of the d-axis; a rated current value representing the d-axis; Representing d-axis inductance; representing the measured actual back emf of the q-axis; Represents the rated back EMF of the q-axis; representing the actual current value of the q-axis; a rated current value representing the q-axis; representing q-axis inductance; t represents time;
the expression for determining the flux linkage is as follows:
；
Wherein, Representing flux linkage; Representing the stator inductance; t represents time;
the expression for determining the electromagnetic torque is:
；
Wherein, Representing electromagnetic torque; p represents the pole pair number of the motor;
the expression for determining the reference load torque is:
；
Wherein, Representing a reference load torque; representing the moment of inertia of the rotor; indicating the rated angular velocity of the motor.
Further, obtaining actual load torque under the load condition at a plurality of time points includes: constructing a control function based on the angular speed and the position of the permanent magnet synchronous motor; determining a sliding curve and a candidate function based on the control function; determining a control parameter based on the sliding curve and the candidate function; the actual load torque is determined based on the control parameter.
Further, the expression of the control function is:
；
Wherein t represents time; representing observed angular velocity And actual angular velocityIs the difference of (1)；Representing the moment of inertia of the rotor; representing the observed torque; representing the actual torque; Representing a first control parameter; Representing a sign function; Representing the observation position And the actual positionIs the difference of (1)；Representing a second control parameter;
The sliding curve has the expression:
；
Wherein, Representing a first sliding curve; Representing a second sliding curve;
the expression of the candidate function is:
；
Wherein, Representing a first candidate function; representing a second candidate function;
the value range of the control parameter is as follows:
；
the expression of the actual load torque is:
；
Wherein, Representing the actual load torque; indicating the rated electromagnetic torque.
The technical scheme of the embodiment of the invention has at least the following advantages and beneficial effects:
According to the invention, by determining the difference value between the reference load torque and the actual load torque of the permanent magnet synchronous motor under the load working condition, whether the motor fails or not is judged, the fault identification precision can be improved, the abnormal condition of no-load normal load of the motor is avoided, and the fault detection speed is improved.
According to the invention, by predicting the fault time point when the load torque difference value is larger than the preset difference value threshold value and determining the to-be-fault state of the permanent magnet synchronous motor, the motor fault can be prepared in advance, and the motor in the to-be-fault state is focused more, so that the fault can be found and detected in time, and serious loss is avoided.
Because the flux linkage exists only on the d axis under the normal working condition of the permanent magnet synchronous motor, the invention determines the flux linkage by calculating the dq axis current and determines the reference load torque of the motor under the normal load working condition based on the flux linkage, thereby reducing the calculation complexity and the introduced noise and enabling the calculation result to be more accurate.
According to the invention, the load torque when the observed value is close to the actual value is determined by controlling the difference value between the observed value and the actual value, so that error introduction is reduced, and the result is more in line with the value of the actual working condition of the motor.
Drawings
FIG. 1 is an exemplary block diagram of a sensorless permanent magnet synchronous motor condition monitoring system provided by the present invention;
fig. 2 is an exemplary flowchart of a method for monitoring the status of a sensorless permanent magnet synchronous motor according to the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of 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, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Fig. 1 is an exemplary block diagram of a state monitoring system for a sensorless permanent magnet synchronous motor according to the present invention.
As shown in fig. 1, the sensorless permanent magnet synchronous motor state monitoring system includes a current processing module 110, a reference torque determining module 120, an actual torque determining module 130, a difference curve generating module 140, a fault predicting module 150, a current difference determining module 160, and a state judging module 170.
The current processing module is used for obtaining rated current and rated voltage of the permanent magnet synchronous motor and actual current and actual voltage at a plurality of time points.
The reference torque determining module is used for obtaining reference load torques under load working conditions at a plurality of time points based on the rated current and the rated voltage.
The obtaining the reference load torque under the load working condition of a plurality of time points comprises the following steps: calculating an actual current value based on a difference between the actual back electromotive force and the rated back electromotive force; determining a flux linkage based on the actual back emf and the actual current value; determining an electromagnetic torque based on the flux linkage and the actual current value; the reference load torque is determined based on the electromagnetic torque. The expression for calculating the actual current value is:
；
Wherein, Representing the actual back emf of the measured d-axis; representing the rated back electromotive force of the d-axis; Representing the stator resistance; representing the actual current value of the d-axis; a rated current value representing the d-axis; Representing d-axis inductance; representing the measured actual back emf of the q-axis; Represents the rated back EMF of the q-axis; representing the actual current value of the q-axis; a rated current value representing the q-axis; representing q-axis inductance; t represents time.
The expression for determining the flux linkage is as follows:
；
Wherein, Representing flux linkage; Representing the stator inductance; t represents time.
The expression for determining the electromagnetic torque is:
；
Wherein, Representing electromagnetic torque; p represents the motor pole pair number.
The expression for determining the reference load torque is:
；
Wherein, Representing a reference load torque; representing the moment of inertia of the rotor; indicating the rated angular velocity of the motor.
The actual torque determination module is used for obtaining actual load torques under the load working conditions at a plurality of time points based on the actual currents and the actual voltages at a plurality of time points.
Obtaining actual load torque at the load conditions at a plurality of time points, comprising: constructing a control function based on the angular speed and the position of the permanent magnet synchronous motor; determining a sliding curve and a candidate function based on the control function; determining a control parameter based on the sliding curve and the candidate function; the actual load torque is determined based on the control parameter. The expression of the control function is:
；
Wherein t represents time; representing observed angular velocity And actual angular velocityIs the difference of (1)；Representing the moment of inertia of the rotor; representing the observed torque; representing the actual torque; Representing a first control parameter; Representing a sign function; Representing the observation position And the actual positionIs the difference of (1)；Representing a second control parameter.
The sliding curve has the expression:
；
Wherein, Representing a first sliding curve; A second sliding curve is shown.
The expression of the candidate function is:
；
Wherein, Representing a first candidate function; Representing a second candidate function.
The value range of the control parameter is as follows:
。
the expression of the actual load torque is:
；
Wherein, Representing the actual load torque; indicating the rated electromagnetic torque.
The difference curve generation module is used for constructing a load torque difference curve according to time sequence based on the difference value of the reference load torque and the actual load torque.
The fault prediction module is used for predicting a fault time point when the load torque difference value is larger than a preset difference value threshold value based on the load torque difference value curve.
The current difference value determining module is used for determining current actual load torque and current reference load torque and obtaining a current load torque difference value.
The state judging module is used for determining that the permanent magnet synchronous motor is in a fault state when the current load torque difference value is larger than the preset difference value threshold value; when the current load torque difference value is smaller than or equal to the preset difference value threshold value and the current time is before the fault time point, determining that the permanent magnet synchronous motor is in a normal state; and when the current load torque difference value is smaller than or equal to the preset difference value threshold value and the current time is the fault time point or after the fault time point, determining that the permanent magnet synchronous motor is in a state to be in fault.
Fig. 2 is an exemplary flowchart of a method for monitoring the status of a sensorless permanent magnet synchronous motor according to the present invention.
As shown in fig. 2, the method for monitoring the state of the sensorless permanent magnet synchronous motor comprises the following steps:
Step 210, obtaining rated current, rated voltage and actual current and actual voltage of the permanent magnet synchronous motor at a plurality of time points. The rated current and the rated voltage can be obtained by reading the nameplate of the permanent magnet synchronous motor. The actual current and the actual voltage can be obtained by detecting the a, b and c phase voltages input to the permanent magnet synchronous motor.
And 220, obtaining reference load torque under load working conditions at a plurality of time points based on the rated current and the rated voltage. The load condition refers to the condition of the permanent magnet synchronous motor under the load condition. The reference load torque may refer to a reference value of the load torque of the permanent magnet synchronous motor in the loaded condition.
The obtaining the reference load torque under the load working condition of a plurality of time points comprises the following steps: calculating an actual current value based on a difference between the actual back electromotive force and the rated back electromotive force; determining a flux linkage based on the actual back emf and the actual current value; determining an electromagnetic torque based on the flux linkage and the actual current value; the reference load torque is determined based on the electromagnetic torque. The actual back electromotive force can be obtained by simulating or measuring the permanent magnet synchronous motor in a normal working state. The expression for calculating the actual current value is:
；
Wherein, Representing the actual back emf of the measured d-axis; representing the rated back electromotive force of the d-axis; Representing the stator resistance; representing the actual current value of the d-axis; a rated current value representing the d-axis; Representing d-axis inductance; representing the measured actual back emf of the q-axis; Represents the rated back EMF of the q-axis; representing the actual current value of the q-axis; a rated current value representing the q-axis; representing q-axis inductance; t represents time.
The expression for determining the flux linkage is as follows:
；
Wherein, Representing flux linkage; Representing the stator inductance; t represents time.
The expression for determining the electromagnetic torque is:
；
Wherein, Representing electromagnetic torque; p represents the motor pole pair number.
The expression for determining the reference load torque is:
；
Wherein, Representing a reference load torque; representing the moment of inertia of the rotor; indicating the rated angular velocity of the motor.
And step 230, obtaining actual load torque under the load working conditions at a plurality of time points based on the actual current and the actual voltage at a plurality of time points. The actual load torque may refer to the load torque when the permanent magnet synchronous motor is actually loaded.
Obtaining actual load torque at the load conditions at a plurality of time points, comprising: constructing a control function based on the angular speed and the position of the permanent magnet synchronous motor; determining a sliding curve and a candidate function based on the control function; determining a control parameter based on the sliding curve and the candidate function; the actual load torque is determined based on the control parameter. The expression of the control function is:
；
Wherein t represents time; representing observed angular velocity And actual angular velocityIs the difference of (1)；Representing the moment of inertia of the rotor; representing the observed torque; representing the actual torque; Representing a first control parameter; Representing a sign function; Representing the observation position And the actual positionIs the difference of (1)；Representing a second control parameter.
The sliding curve has the expression:
；
Wherein, Representing a first sliding curve; A second sliding curve is shown.
The expression of the candidate function is:
；
Wherein, Representing a first candidate function; Representing a second candidate function.
The value range of the control parameter is as follows:
。
the expression of the actual load torque is:
；
Wherein, Representing the actual load torque; indicating the rated electromagnetic torque.
Step 240, constructing a load torque difference curve according to time sequence based on the difference between the reference load torque and the actual load torque. The load torque difference curve contains the change of the load torque difference with time.
Step 250, predicting a fault time point when the load torque difference is greater than a preset difference threshold based on the load torque difference curve. The load torque difference may be processed through various machine learning models and the point in time at which a fault may occur may be determined based on the processing results. For example, LSTM model, etc. The preset difference threshold value refers to the maximum difference between the actual load torque and the reference load torque under normal conditions, and for the predicted case, the preset difference threshold value may refer to the difference between the predicted load torque and the reference load torque.
Step 260, determining the current actual load torque and the current reference load torque, and obtaining the current load torque difference. The current load torque difference refers to the difference in actual load torque calculated from the current actually measured value. Since the predicted load torque difference is a predicted value, the actual value may be different from the predicted value, and thus, an actual detection is required to determine whether the permanent magnet synchronous motor actually fails. The predicted fault time point is used for reminding the permanent magnet synchronous motor of needing to closely observe or call to a position with lower stability requirement for use after the time so as to avoid loss.
And step 270-1, when the current load torque difference value is greater than the preset difference value threshold value, determining that the permanent magnet synchronous motor is in a fault state. The fault state refers to a state in which the permanent magnet synchronous motor fails.
And step 270-2, when the current load torque difference value is smaller than or equal to the preset difference value threshold value and the current time is before the fault time point, determining that the permanent magnet synchronous motor is in a normal state. The normal state refers to a state in which the permanent magnet synchronous motor works normally.
And step 270-3, when the current load torque difference value is smaller than or equal to the preset difference value threshold value and the current time is the fault time point or after the fault time point, determining that the permanent magnet synchronous motor is in a state to be failed. The state to be failed refers to a state that the permanent magnet synchronous motor is actually in a normal working state, but the probability of occurrence of failure is high.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The state monitoring system of the non-inductive permanent magnet synchronous motor is characterized by comprising a current processing module, a reference torque determining module, an actual torque determining module, a difference curve generating module, a fault predicting module, a current difference determining module and a state judging module;
The current processing module is used for obtaining rated current, rated voltage and actual current and actual voltage of the permanent magnet synchronous motor at a plurality of time points;
The reference torque determining module is used for obtaining reference load torques under load working conditions at a plurality of time points based on the rated current and the rated voltage;
The actual torque determining module is used for obtaining actual load torques under the load working conditions at a plurality of time points based on the actual currents and the actual voltages at a plurality of time points;
the difference curve generation module is used for constructing a load torque difference curve according to time sequence based on the difference value of the reference load torque and the actual load torque;
The fault prediction module is used for predicting a fault time point when the load torque difference value is larger than a preset difference value threshold value based on the load torque difference value curve;
The current difference value determining module is used for determining current actual load torque and current reference load torque and obtaining a current load torque difference value;
The state judging module is used for determining that the permanent magnet synchronous motor is in a fault state when the current load torque difference value is larger than the preset difference value threshold value; when the current load torque difference value is smaller than or equal to the preset difference value threshold value and the current time is before the fault time point, determining that the permanent magnet synchronous motor is in a normal state; and when the current load torque difference value is smaller than or equal to the preset difference value threshold value and the current time is the fault time point or after the fault time point, determining that the permanent magnet synchronous motor is in a state to be in fault.
2. The sensorless permanent magnet synchronous motor condition monitoring system of claim 1, wherein the obtaining the reference load torque at the load conditions at a plurality of time points comprises:
calculating an actual current value based on a difference between the actual back electromotive force and the rated back electromotive force;
Determining a flux linkage based on the actual back emf and the actual current value;
Determining an electromagnetic torque based on the flux linkage and the actual current value;
the reference load torque is determined based on the electromagnetic torque.
3. The sensorless permanent magnet synchronous motor condition monitoring system according to claim 2, wherein the expression for calculating the actual current value is:
；
Wherein, Representing the actual back emf of the measured d-axis; representing the rated back electromotive force of the d-axis; Representing the stator resistance; representing the actual current value of the d-axis; a rated current value representing the d-axis; Representing d-axis inductance; representing the measured actual back emf of the q-axis; Represents the rated back EMF of the q-axis; representing the actual current value of the q-axis; a rated current value representing the q-axis; representing q-axis inductance; t represents time;
the expression for determining the flux linkage is as follows:
；
Wherein, Representing flux linkage; Representing the stator inductance; t represents time;
the expression for determining the electromagnetic torque is:
；
Wherein, Representing electromagnetic torque; p represents the pole pair number of the motor;
the expression for determining the reference load torque is:
；
Wherein, Representing a reference load torque; representing the moment of inertia of the rotor; indicating the rated angular velocity of the motor.
4. The sensorless permanent magnet synchronous motor condition monitoring system of claim 1, wherein deriving actual load torque at the load conditions at a plurality of time points comprises:
constructing a control function based on the angular speed and the position of the permanent magnet synchronous motor;
Determining a sliding curve and a candidate function based on the control function;
determining a control parameter based on the sliding curve and the candidate function;
the actual load torque is determined based on the control parameter.
5. The sensorless permanent magnet synchronous motor condition monitoring system of claim 4 wherein the expression of the control function is:
;
Wherein t represents time; representing observed angular velocity And actual angular velocityIs the difference of (1)；Representing the moment of inertia of the rotor; representing the observed torque; representing the actual torque; Representing a first control parameter; Representing a sign function; Representing the observation position And the actual positionIs the difference of (1)；Representing a second control parameter;
The sliding curve has the expression:
；
Wherein, Representing a first sliding curve; Representing a second sliding curve;
the expression of the candidate function is:
；
Wherein, Representing a first candidate function; representing a second candidate function;
the value range of the control parameter is as follows:
；
the expression of the actual load torque is:
；
Wherein, Representing the actual load torque; indicating the rated electromagnetic torque.
6. A method for monitoring the state of a permanent magnet synchronous motor based on a system for monitoring the state of a permanent magnet synchronous motor according to any one of claims 1 to 5, comprising:
acquiring rated current, rated voltage and actual current and actual voltage of a permanent magnet synchronous motor at a plurality of time points;
obtaining reference load torque under load working conditions at a plurality of time points based on the rated current and the rated voltage;
Obtaining actual load torque under the load working conditions at a plurality of time points based on the actual current and the actual voltage at a plurality of time points;
Constructing a load torque difference curve in time sequence based on the difference between the reference load torque and the actual load torque;
predicting a fault time point when the load torque difference is greater than a preset difference threshold based on the load torque difference curve;
determining a current actual load torque and a current reference load torque, and obtaining a current load torque difference value;
when the current load torque difference value is larger than the preset difference value threshold value, determining that the permanent magnet synchronous motor is in a fault state;
when the current load torque difference value is smaller than or equal to the preset difference value threshold value and the current time is before the fault time point, determining that the permanent magnet synchronous motor is in a normal state;
And when the current load torque difference value is smaller than or equal to the preset difference value threshold value and the current time is the fault time point or after the fault time point, determining that the permanent magnet synchronous motor is in a state to be in fault.
7. The method for monitoring the state of a sensorless permanent magnet synchronous motor of claim 6, wherein the obtaining the reference load torque under the load condition at a plurality of time points comprises:
calculating an actual current value based on a difference between the actual back electromotive force and the rated back electromotive force;
Determining a flux linkage based on the actual back emf and the actual current value;
Determining an electromagnetic torque based on the flux linkage and the actual current value;
the reference load torque is determined based on the electromagnetic torque.
8. The method for monitoring the state of a sensorless permanent magnet synchronous motor according to claim 7, wherein the expression for calculating the actual current value is:
；
Wherein, Representing the actual back emf of the measured d-axis; representing the rated back electromotive force of the d-axis; Representing the stator resistance; representing the actual current value of the d-axis; a rated current value representing the d-axis; Representing d-axis inductance; representing the measured actual back emf of the q-axis; Represents the rated back EMF of the q-axis; representing the actual current value of the q-axis; a rated current value representing the q-axis; representing q-axis inductance; t represents time;
the expression for determining the flux linkage is as follows:
；
Wherein, Representing flux linkage; Representing the stator inductance; t represents time;
the expression for determining the electromagnetic torque is:
；
Wherein, Representing electromagnetic torque; p represents the pole pair number of the motor;
the expression for determining the reference load torque is:
；
Wherein, Representing a reference load torque; representing the moment of inertia of the rotor; indicating the rated angular velocity of the motor.
9. The method of claim 6, wherein obtaining actual load torque under the load conditions at a plurality of time points comprises:
constructing a control function based on the angular speed and the position of the permanent magnet synchronous motor;
Determining a sliding curve and a candidate function based on the control function;
determining a control parameter based on the sliding curve and the candidate function;
the actual load torque is determined based on the control parameter.
10. The method for monitoring the state of a sensorless permanent magnet synchronous motor according to claim 9, wherein the expression of the control function is:
；
Wherein t represents time; representing observed angular velocity And actual angular velocityIs the difference of (1)；Representing the moment of inertia of the rotor; representing the observed torque; representing the actual torque; Representing a first control parameter; Representing a sign function; Representing the observation position And the actual positionIs the difference of (1)；Representing a second control parameter;
The sliding curve has the expression:
；
Wherein, Representing a first sliding curve; Representing a second sliding curve;
the expression of the candidate function is:
；
Wherein, Representing a first candidate function; representing a second candidate function;
the value range of the control parameter is as follows:
；
the expression of the actual load torque is:
；
Wherein, Representing the actual load torque; indicating the rated electromagnetic torque.
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