CN118381392A

CN118381392A - Permanent magnet synchronous motor control method, device, equipment and computer program product

Info

Publication number: CN118381392A
Application number: CN202410808083.0A
Authority: CN
Inventors: 孟庆辉; 贾善坤; 侯轶仁; 隋子健
Original assignee: Weichai Power Co Ltd
Current assignee: Weichai Power Co Ltd
Priority date: 2024-06-21
Filing date: 2024-06-21
Publication date: 2024-07-23
Anticipated expiration: 2044-06-21
Also published as: CN118381392B

Abstract

The present application discloses a permanent magnet synchronous motor control method, device, equipment and computer program product, which relates to the field of motor control. The present application considers the adverse effects of harmonic current on the output torque of the permanent magnet synchronous motor, and constructs a stator fundamental current equation with the fundamental current as the state quantity by splitting the stator current; on this basis, a fundamental constant disturbance observer is constructed to realize the observation task of the fundamental constant disturbance at the current sampling moment; a non-fundamental constant disturbance estimation value calculation formula is also constructed to calculate the non-fundamental constant disturbance estimation value at the previous sampling moment, and the non-fundamental constant disturbance value at the current sampling moment is determined accordingly; thereby realizing the disturbance observation task at the current sampling moment, and providing a basis for suppressing the harmonic disturbance of the motor current loop; and then calculating the stator direct-axis voltage value and the stator quadrature-axis voltage value to be applied at present, thereby improving the control accuracy of the current loop and realizing the high-precision control task of the permanent magnet synchronous motor.

Description

Permanent magnet synchronous motor control method, device, equipment and computer program product

Technical Field

The present application relates to the field of motor control technologies, and in particular, to a method, an apparatus, a device, and a computer program product for controlling a permanent magnet synchronous motor.

Background

Permanent magnet synchronous motors are increasingly applied to the scenes of household appliances, automobile driving and the like due to the advantages of simple structure, high power density, low use cost and the like. Currently, the current loop control task of the permanent magnet synchronous motor is generally implemented by adopting a mode of controlling the voltage of a stator straight shaft (i.e. a stator d-axis) and the voltage of a stator quadrature shaft (i.e. a stator q-axis).

However, in the actual running process of the permanent magnet synchronous motor, the permanent magnet synchronous motor is inevitably affected by harmonic disturbance caused by nonlinearity of an inverter, non-sinusoidal magnetic flux density of a motor body, cogging effect and the like, so that the permanent magnet synchronous motor externally outputs torque fluctuation, and a high-precision permanent magnet synchronous motor control task is difficult to realize.

Disclosure of Invention

In view of the above, the present application provides a method, apparatus, device and computer program product for controlling a permanent magnet synchronous motor, so as to achieve a high-precision permanent magnet synchronous motor control task.

The specific scheme is as follows:

The first aspect of the application provides a permanent magnet synchronous motor control method, comprising the following steps:

Extracting a stator straight axis fundamental current value and a stator quadrature axis fundamental current value at the current sampling moment from the stator straight axis current and the stator quadrature axis current;

Invoking a pre-built fundamental wave constant disturbance observer to observe and obtain a stator straight axis fundamental wave constant disturbance value and a stator quadrature axis fundamental wave constant disturbance value at the current sampling moment; the fundamental wave constant disturbance observer is constructed according to a stator fundamental wave current equation, wherein the stator fundamental wave current equation is a current equation which is obtained by splitting fundamental wave current and harmonic current on the basis of an original stator current equation and takes the fundamental wave current as a state quantity, and disturbance quantity caused by the harmonic current is contained in a disturbance item of the stator fundamental wave current equation;

Invoking an abnormal fundamental wave normal value disturbance estimation value calculation formula, and calculating a stator straight axis abnormal value disturbance estimation value and a stator quadrature axis abnormal value disturbance estimation value at a sampling moment before the current sampling moment according to the stator straight axis fundamental wave current value and the stator quadrature axis fundamental wave current value; taking the stator direct axis non-fundamental wave constant disturbance estimated value as the stator direct axis non-fundamental wave constant disturbance value at the current sampling moment, and taking the stator quadrature axis non-fundamental wave constant disturbance estimated value as the stator quadrature axis non-fundamental wave constant disturbance value at the current sampling moment; the calculation formula of the abnormal fundamental wave constant disturbance estimated value is a calculation formula obtained by dispersing the stator fundamental wave current equation by a forward Euler method;

Calculating a stator direct-axis voltage value and a stator quadrature-axis voltage value according to the stator direct-axis fundamental wave constant disturbance value, the stator quadrature-axis fundamental wave constant disturbance value, the stator direct-axis abnormal fundamental wave constant disturbance value and the stator quadrature-axis abnormal fundamental wave constant disturbance value;

and controlling the permanent magnet synchronous motor at the current sampling moment according to the stator direct axis voltage value and the stator quadrature axis voltage value.

A second aspect of the present application provides a permanent magnet synchronous motor control device, including:

the fundamental wave current extraction unit is used for extracting a stator direct-axis fundamental wave current value and a stator quadrature-axis fundamental wave current value at the current sampling moment from the stator direct-axis current and the stator quadrature-axis current;

The fundamental wave constant disturbance determining unit is used for calling a pre-constructed fundamental wave constant disturbance observer to observe and obtain a stator straight axis fundamental wave constant disturbance value and a stator quadrature axis fundamental wave constant disturbance value at the current sampling moment; the fundamental wave constant disturbance observer is constructed according to a stator fundamental wave current equation, wherein the stator fundamental wave current equation is a current equation which is obtained by splitting fundamental wave current and harmonic current on the basis of an original stator current equation and takes the fundamental wave current as a state quantity, and disturbance quantity caused by the harmonic current is contained in a disturbance item of the stator fundamental wave current equation;

The abnormal fundamental wave abnormal value disturbance determining unit is used for calling an abnormal fundamental wave abnormal value disturbance estimation value calculation formula and calculating a stator straight axis abnormal value disturbance estimation value and a stator cross axis abnormal value disturbance estimation value at a sampling moment before the current sampling moment according to the stator straight axis fundamental wave current value and the stator cross axis fundamental wave current value; taking the stator direct axis non-fundamental wave constant disturbance estimated value as the stator direct axis non-fundamental wave constant disturbance value at the current sampling moment, and taking the stator quadrature axis non-fundamental wave constant disturbance estimated value as the stator quadrature axis non-fundamental wave constant disturbance value at the current sampling moment; the calculation formula of the abnormal fundamental wave constant disturbance estimated value is a calculation formula obtained by dispersing the stator fundamental wave current equation by a forward Euler method;

The control voltage determining unit is used for calculating a stator direct-axis voltage value and a stator quadrature-axis voltage value according to the stator direct-axis fundamental wave constant disturbance value, the stator quadrature-axis fundamental wave constant disturbance value, the stator direct-axis non-fundamental wave constant disturbance value and the stator quadrature-axis non-fundamental wave constant disturbance value;

and the motor control unit is used for controlling the permanent magnet synchronous motor according to the stator direct axis voltage value and the stator quadrature axis voltage value at the current sampling moment.

A third aspect of the present application provides a permanent magnet synchronous motor control device comprising at least one processor and a memory connected to the processor, wherein:

The memory is used for storing a computer program;

The processor is configured to execute the computer program to enable the permanent magnet synchronous motor control apparatus to implement any one of the permanent magnet synchronous motor control methods described above.

A fourth aspect of the application provides a computer program product comprising computer readable instructions which, when run on an electronic device, cause the electronic device to implement any of the above-described permanent magnet synchronous motor control methods.

By means of the technical scheme, adverse effects of harmonic currents on output torque of the permanent magnet synchronous motor are considered, stator currents are split into fundamental currents and harmonic currents, a stator fundamental current equation taking the fundamental currents as state quantities is constructed, and disturbance items comprise disturbance quantities caused by the harmonic currents; on the basis, a fundamental constant disturbance observer is constructed, and the observation task of fundamental constant disturbance of a stator straight axis and a stator quadrature axis at the current sampling moment is realized; the abnormal fundamental wave abnormal value disturbance estimated value calculation formula is also constructed, the abnormal fundamental wave abnormal value disturbance estimated value of the previous sampling moment is calculated, and the abnormal fundamental wave abnormal value disturbance value of the adjacent sampling moment can be considered to be consistent because the actual sampling period is usually smaller, so that the abnormal fundamental wave abnormal value disturbance values of the stator straight axis and the stator quadrature axis of the current sampling moment are determined; therefore, a disturbance observation task at the current sampling moment is realized, and a foundation is provided for inhibiting harmonic disturbance of a current loop of the permanent magnet synchronous motor; and then calculating a stator direct-axis voltage value and a stator quadrature-axis voltage value which are currently required to be applied according to the stator direct-axis fundamental wave constant disturbance value, the stator quadrature-axis fundamental wave constant disturbance value, the stator direct-axis non-fundamental wave constant disturbance value and the stator quadrature-axis non-fundamental wave constant disturbance value, and controlling the permanent magnet synchronous motor according to the stator direct-axis fundamental wave constant disturbance value, the stator quadrature-axis fundamental wave constant disturbance value and the stator quadrature-axis non-fundamental wave constant disturbance value. When the control voltage is determined, the system disturbance is compensated based on the determined disturbance value, and the motor is controlled according to the determined voltage value, so that the control precision of the current loop can be improved to a certain extent, and the high-precision control task of the permanent magnet synchronous motor is realized.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

Fig. 1 shows a control schematic of a permanent magnet synchronous motor;

Fig. 2 is a flow chart of a method for controlling a permanent magnet synchronous motor according to an embodiment of the present application;

fig. 3 shows a schematic diagram of an extraction process of stator fundamental current;

FIG. 4 shows a schematic diagram of a stator j-axis current control system;

Fig. 5 is a schematic structural view of a permanent magnet synchronous motor control device according to an embodiment of the present application;

Fig. 6 is a schematic structural view of a permanent magnet synchronous motor control apparatus according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The applicant finds that the existing permanent magnet synchronous motor control scheme mainly comprises speed loop control and current loop control, and as shown in fig. 1, the current loop control is the basis of the speed loop control, so that the control accuracy of the current loop influences the overall control accuracy of the motor. The applicant finds by analyzing the current loop of the permanent magnet synchronous motor: in the current control system, harmonic current inevitably exists due to factors such as nonlinearity of an inverter, cogging effect of a motor body and the like, and torque pulsation of external output torque of the permanent magnet synchronous motor is caused by the existence of the harmonic current, so that the smoothness of the external output torque of the permanent magnet synchronous motor is influenced.

In order to inhibit harmonic current in a current loop control system of a permanent magnet synchronous motor, reduce torque pulsation of external output torque of the permanent magnet synchronous motor and improve control precision of the permanent magnet synchronous motor, the embodiment of the application provides a control method, a device, equipment and a computer program product of the permanent magnet synchronous motor.

Fig. 2 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 connection with fig. 2, the method may comprise the steps of:

and S101, respectively extracting a stator straight axis fundamental wave current value and a stator quadrature axis fundamental wave current value at the current sampling moment from the stator straight axis current and the stator quadrature axis current.

For any one axis (abbreviated as j axis) of the stator straight axis and the stator quadrature axis, the j-axis current may include a fundamental current and a harmonic current, and may be expressed as: Wherein, the method comprises the steps of, wherein, Representing the fundamental current of the j-axis,Representing the current of the j-axisThe harmonic current described in the present application may refer to a 6m harmonic current except for the fundamental current, where m is a positive integer, and among the 6m harmonic currents, the 6 harmonic current is the main one.

And S102, calling a pre-constructed fundamental wave constant disturbance observer, and observing to obtain a stator straight axis fundamental wave constant disturbance value and a stator quadrature axis fundamental wave constant disturbance value at the current sampling moment.

The fundamental wave constant disturbance observer is constructed according to a stator fundamental wave current equation; the stator fundamental wave current equation is a current equation which is obtained by splitting fundamental wave current and harmonic current on the basis of an original stator current equation and takes the fundamental wave current as a state quantity, and disturbance quantity caused by the harmonic current is contained in disturbance items of the stator fundamental wave current equation.

Illustratively, the original stator current equation may be expressed as:

；

Wherein x represents a state quantity, ，Representing the stator straight axis current flow,Representing stator quadrature current; the representation variable is first derivative with respect to time t, ，Representation ofThe first derivative of the time t is given,Representation ofFirst derivative to time t; a represents a state transition matrix, B represents a control input matrix, and is related to motor parameters; u represents the control input quantity and,，Representing the direct axis voltage of the stator,Representing stator quadrature voltage; g represents the quadrature axis coupling term in relation to the rotational speed.

Based on the original stator current equation, splitting the state quantity into fundamental current state quantity and harmonic current state quantity except the fundamental current, namely the state quantityWherein the fundamental current state quantity，Representing the stator direct axis fundamental current,Representing stator quadrature axis fundamental current, harmonic current state quantity，Represents the stator direct-axis harmonic current except the stator direct-axis fundamental current in the stator direct-axis current,Representing stator quadrature-axis harmonic currents other than the stator quadrature-axis fundamental current in the stator quadrature-axis currents; on this basis, regarding the term related to the harmonic current as disturbance, a stator fundamental current equation with the fundamental current as a state quantity is generated, which can be expressed as:

；

Wherein, ，Representation ofThe first derivative of the time t is given,Representation ofFirst derivative to time t; in the stator fundamental current equation, divideThe others may all belong to disturbance terms, which may include a rotational speed dependent coupling term and a harmonic current dependent disturbance, G represents a rotational speed dependent quadrature axis coupling term,，Representation ofThe first derivative of the time t is given,Representation ofThe first derivative of time t. The above equation is a continuous equation, and may be referred to as a continuous stator fundamental current equation.

And step S103, calculating the disturbance value of the stator straight axis abnormal fundamental wave abnormal value and the disturbance value of the stator quadrature axis abnormal fundamental wave abnormal value at the current sampling moment.

It should be noted that, in the actual engineering, it is considered that, in the control period of 100 μs, the abnormal fundamental disturbance value of the system, that is, the abnormal fundamental disturbance value of the adjacent sampling time is the same, and the stator direct axis abnormal disturbance value at the sampling time T is taken as an example, because the time interval between adjacent control times (that is, sampling time) is short, by analyzing the history information data of the permanent magnet synchronous motor, the abnormal fundamental disturbance value of the system is not changed in the control period of 100 μsStator straight axis abnormal fundamental wave disturbance value equal to previous sampling time T-1Stator quadrature axis abnormal fundamental wave constant disturbance value at sampling time TStator quadrature axis abnormal fundamental wave disturbance value equal to previous sampling time T-1。

Based on this, step S103 may include the following steps A-B:

and step A, invoking an abnormal fundamental wave abnormal value disturbance estimation value calculation formula, and calculating a stator straight axis abnormal value disturbance estimation value and a stator quadrature axis abnormal value disturbance estimation value at a sampling moment before the current sampling moment according to the stator straight axis fundamental wave current value and the stator quadrature axis fundamental wave current value.

The calculation formula of the abnormal fundamental wave constant disturbance estimated value is a calculation formula obtained by dispersing the stator fundamental wave current equation by a forward Euler method. In one possible implementation manner, the abnormal-fundamental-wave constant-disturbance-value estimation value calculation formula may be a calculation formula obtained by splitting a disturbance term in a discrete equation into a fundamental-wave constant-value disturbance term and an abnormal-fundamental-wave constant-value disturbance term, and taking the abnormal-wave constant-value disturbance term as an unknown term to be calculated, wherein the discrete equation is an equation obtained by processing the continuous stator fundamental-wave current equation by using a forward euler method. Specifically, the abnormal-fundamental-wave constant disturbance estimated value calculation formula can be obtained by processing the following steps:

And the first step, performing discrete processing on the continuous stator fundamental wave current equation by using a forward Euler method to obtain a discrete equation.

Illustratively, for any sampling instant T, at a sampling instant T-1 preceding the sampling instant T, the discrete equation may be expressed as:

；

Wherein, A stator straight-axis fundamental current value representing the sampling time T,A stator direct axis fundamental current value representing a sampling time T-1; The stator quadrature axis fundamental current value representing the sampling time T, The stator quadrature axis fundamental current value at the sampling time T-1 is represented; Representing a sampling period; The stator direct axis voltage value at sampling time T-1, The stator quadrature axis voltage value at the sampling time T-1 is represented; the stator straight axis disturbance value representing the sampling instant T-1, The stator quadrature disturbance value at sample time T-1 is represented.

Secondly, dividing disturbance items in the discrete equation into fundamental wave constant disturbance items and abnormal fundamental wave constant disturbance items; and taking the abnormal fundamental wave constant disturbance term in the equation as an unknown term to be calculated to obtain the abnormal fundamental wave constant disturbance estimated value calculation equation.

For example, for sample time T-1, there isWherein, the method comprises the steps of, wherein,AndSequentially representing a stator straight-axis fundamental wave constant disturbance value and a stator quadrature-axis fundamental wave constant disturbance value at a sampling time T-1,AndSequentially representing a stator straight axis abnormal value disturbance value and a stator quadrature axis abnormal value disturbance value at a sampling time T-1; on the basis, the estimation error is ignored, and there areWherein, the method comprises the steps of, wherein,AndAnd sequentially representing the stator straight axis abnormal fundamental wave abnormal value disturbance estimated value and the stator quadrature axis abnormal value disturbance estimated value of the sampling time T-1 to be calculated. The abnormal value disturbance estimation calculation formula can be expressed as:

；

Reference is made to the description above for a description of the parameters in the formulae.

And B, taking the stator direct axis abnormal fundamental wave abnormal value disturbance estimated value as the stator direct axis abnormal value disturbance value of the current sampling moment, and taking the stator quadrature axis abnormal value disturbance estimated value as the stator quadrature axis abnormal value disturbance value of the current sampling moment.

Based on the above, the following formula may be called to calculate the abnormal value disturbance estimation value of the current sampling time as the current abnormal value disturbance value:

；

where k represents the current sampling instant and k-1 represents the sampling instant preceding the current sampling instant.

And S104, calculating a stator direct-axis voltage value and a stator quadrature-axis voltage value according to the stator direct-axis fundamental wave constant disturbance value, the stator quadrature-axis fundamental wave constant disturbance value, the stator direct-axis non-fundamental wave constant disturbance value and the stator quadrature-axis non-fundamental wave constant disturbance value.

Step 105, controlling the permanent magnet synchronous motor according to the stator direct axis voltage value and the stator quadrature axis voltage value at the current sampling time.

According to the scheme, the adverse effect of harmonic current on the output torque of the permanent magnet synchronous motor is considered, the stator current is split into fundamental current and harmonic current, a stator fundamental current equation taking the fundamental current as a state quantity is constructed, disturbance items comprise disturbance quantity caused by the harmonic current, and the actual behavior of the permanent magnet synchronous motor can be described more accurately by means of the stator fundamental current equation; on the basis, a fundamental constant disturbance observer is constructed, and the observation task of fundamental constant disturbance of a stator straight axis and a stator quadrature axis at the current sampling moment is realized; the abnormal fundamental wave abnormal value disturbance estimated value calculation formula is also constructed, the abnormal fundamental wave abnormal value disturbance estimated value of the previous sampling moment is calculated, and the abnormal fundamental wave abnormal value disturbance value of the adjacent sampling moment can be considered to be consistent because the actual sampling period is usually smaller, so that the abnormal fundamental wave abnormal value disturbance values of the stator straight axis and the stator quadrature axis of the current sampling moment are determined; so far, based on the extracted current fundamental current, the disturbance observation task at the current sampling moment is realized, and a foundation is provided for inhibiting the harmonic disturbance of the current loop of the permanent magnet synchronous motor; and then calculating a stator direct-axis voltage value and a stator quadrature-axis voltage value which are currently required to be applied according to the stator direct-axis fundamental wave constant disturbance value, the stator quadrature-axis fundamental wave constant disturbance value, the stator direct-axis non-fundamental wave constant disturbance value and the stator quadrature-axis non-fundamental wave constant disturbance value, and controlling the permanent magnet synchronous motor according to the stator direct-axis fundamental wave constant disturbance value, the stator quadrature-axis fundamental wave constant disturbance value and the stator quadrature-axis non-fundamental wave constant disturbance value. When the control voltage is determined, the system disturbance is compensated based on the determined disturbance value, and the motor is controlled according to the determined voltage value, so that the control precision of the current loop can be improved to a certain extent, and further, the high-precision control task of the permanent magnet synchronous motor is realized.

For example, fig. 3 illustrates a schematic diagram of a process of extracting the stator fundamental current, and, as shown in fig. 3, the extracting the stator direct-axis fundamental current value and the stator quadrature-axis fundamental current value at the current sampling time from the stator direct-axis current and the stator quadrature-axis current, respectively, may include steps of C-H:

And C, carrying out conversion from two-phase rotation to two-phase rest on the stator current state quantity according to the rotor flux linkage electrical angle value at the current sampling moment corresponding to the fundamental wave, and obtaining a first intermediate state quantity.

Wherein, the stator current state quantity may include a stator straight axis current and a stator quadrature axis current, which may be expressed as: ; accordingly, the fundamental current state quantity to be extracted can be expressed as ; The rotor flux linkage electrical angle value of the current sampling time corresponding to the fundamental wave can be expressed as，Indicating the angular velocity of the rotor flux linkage. The conversion from two-phase rotation to two-phase rest means a conversion of a state quantity from dq rotation coordinate system to αβ rest coordinate system.

And D, according to the rotor flux linkage electrical angle value at the current sampling moment corresponding to the harmonic wave, sequentially carrying out conversion from two-phase stationary to two-phase rotary, low-pass filtering and conversion from two-phase rotary to two-phase stationary on the first intermediate state quantity to obtain a second intermediate state quantity.

Wherein, the rotor flux linkage electrical angle value of the current sampling time corresponding to the harmonic wave can be expressed as6M represents the number of harmonics, m being a positive integer. The conversion from two-phase stationary to two-phase rotating means a conversion of a state quantity from an αβ stationary coordinate system to a dq rotating coordinate system.

Step E, according to the opposite number of the rotor flux linkage electrical angle value of the current sampling time corresponding to the harmonic wave (namely) And sequentially carrying out conversion from two-phase static to two-phase rotation, low-pass filtering and conversion from two-phase rotation to two-phase static on the first intermediate state quantity to obtain a third intermediate state quantity.

The step D and the step E can be executed in parallel or sequentially; the execution sequence of step D and step E is not limited in the present application.

And F, adding the second intermediate state quantity and the third intermediate state quantity to obtain a fourth intermediate state quantity.

Step G, according to the rotor flux linkage electrical angle value (namely) And carrying out conversion from two-phase static to two-phase rotation on the fourth intermediate state quantity to obtain a fifth intermediate state quantity.

And step H, subtracting the stator current state quantity from the fifth intermediate state quantity to obtain a fundamental current state quantity, and determining a stator direct axis fundamental current value and a stator quadrature axis fundamental current value at the current sampling moment.

The scheme provides a fundamental wave current extraction mode based on dq axis coordinate transformation, and the mode can be optionally applied to a position estimation strategy of a permanent magnet synchronous motor based on fundamental wave current.

In addition, other modes can be adopted when extracting the fundamental wave current, and the application is not limited.

In one or more embodiments provided by the present application, the stator fundamental current equation may be: discrete stator fundamental current equations.

Optionally, the discrete stator fundamental current equation may be obtained by performing taylor expansion of a preset order on a state quantity at a sampling time subsequent to the sampling time at a designated sampling time; the appointed sampling time can be any sampling time; the state quantity in the discrete stator fundamental wave current equation can be calculated by a continuous stator fundamental wave current equation at each order derivative value at the appointed sampling moment; the continuous stator fundamental wave current equation may be a current equation obtained by splitting state quantities in the original stator current equation, and disturbance items of the continuous stator fundamental wave current equation include disturbance quantities caused by harmonic currents.

Illustratively, the discrete stator fundamental current equation may be obtained by transforming in the following steps I-K, in particular:

And step I, splitting the stator current in the original stator current equation into fundamental wave current and harmonic current.

Illustratively, the stator current equation resulting from the step I process may be expressed as:。

and J, transforming to obtain a continuous stator fundamental wave current equation taking the fundamental wave current as a state quantity.

The disturbance term f of the continuous stator fundamental current equation includes disturbance amounts caused by harmonic currents. The continuous stator fundamental current equation can be expressed as: ; can also be expressed as: Where f represents the disturbance term, ，AndThe stator straight axis disturbance and the stator quadrature axis disturbance are sequentially represented, wherein the stator straight axis disturbance and the stator quadrature axis disturbance comprise a quadrature-direct axis coupling term related to the rotating speed and a term related to the harmonic current.

And K, according to the continuous stator fundamental wave current equation, carrying out Taylor expansion of a preset order on the state quantity of the next sampling time of the sampling time at the appointed sampling time to obtain the discrete stator fundamental wave current equation.

Specifically, step K may include the following steps K1-K2:

And step K1, at a designated sampling time, carrying out Taylor expansion (namely n-order Taylor expansion) of a preset order on the state quantity of the sampling time after the sampling time.

It should be noted that, the control period of the current loop of the permanent magnet synchronous motor (i.e. the sampling period of the present application) is usually very short, generally in the microsecond level, based on which the taylor expansion can be performed on the state variable at a previous time: in general, the larger the expansion order is, the larger the discrete accuracy is, and the larger the calculation cost is, based on which the accuracy and the calculation cost can be weighed in the actual engineering, and the taylor expansion order can be set according to the requirement.

For example, for any sampling instant T, the taylor expansion resulting from step K1 can be expressed as:

；

Wherein, the state quantity at the sampling time T ; The state quantity at the sampling instant t+1 following the sampling instant T，The stator direct axis fundamental current value at sampling time T +1,The stator quadrature axis fundamental current value at the sampling time T+1 is represented; An n-order taylor remainder representing the sampling time T; n represents a preset taylor expansion order, and n is a positive integer; ， representing the sampling instant T The first derivative value with respect to time t,Representing the sampling instant TA first derivative value to time t;， representing the sampling instant T For the second derivative value of time t,Representing the sampling instant TSecond derivative value for time t;， representing the sampling instant T For an n-order derivative value of time t,Representing the sampling instant TN-order derivative value for time t.

And step K2, substituting the value of each derivative of the state quantity calculated according to the continuous stator fundamental wave current equation, and neglecting an n-order Taylor remainder to obtain the discrete stator fundamental wave current equation.

It should be noted that, since the current loop control period (i.e., the sampling period described in the present application) is small, the control voltage value and the total disturbance value of the system can be considered to be approximately unchanged in one sampling period. Based on this, the state quantity first derivative value can be calculated according to the continuous stator fundamental wave current equation, and can be expressed as: Wherein the control input quantity at the sampling time T ; Disturbance term of sampling time T，A stator straight axis disturbance value representing the sampling instant T,A stator quadrature disturbance value representing a sampling time T; on the basis, continuous stator fundamental wave current equations are sequentially derived, and a calculation formula of state quantity derivative values except for first derivative can be obtained, specifically:

；

……；

；

。

Based on the above, the discrete stator fundamental current equation can be expressed as:

；

Wherein, I represents a2×2 unit array;；；、 And Are all 2 x 2 diagonal arrays of the formulaIs thatShorthand of (2), calculated、AndAll are 2 x 1 matrices.

Fundamental current state quantity in the discrete stator fundamental current equationThe fundamental current state quantity extracted at the sampling time t+1 may be represented, or the fundamental current state quantity according to the sampling time T may be representedControlling input quantityAmount of disturbanceThe calculated fundamental current state quantity at the sampling time t+1. By means of continuous stator fundamental wave current equation and Taylor expansion of preset orders, the embodiment of the application constructs a discrete high-precision stator fundamental wave current equation of the permanent magnet synchronous motor. And, by taking the quadrature-direct axis coupling term as part of the disturbance, decoupling of the stator quadrature-axis current and the stator quadrature-axis current is achieved.

In one possible implementation, the state transition matrix and the control input matrix in the continuous stator fundamental current equation are each matrices of time-varying motor parameters.

Illustratively, the continuous stator fundamental current equation can be expressed as:

；

In the continuous stator fundamental current equation, the state transition matrix a=a ₁, the control input matrix b=b ₁,R_s represents the actual stator resistance value, L _d represents the actual stator direct axis inductance value, and L _q represents the actual stator quadrature axis inductance; disturbance term of the continuous stator fundamental current equation ; G ₁ denotes an ac-dc axis coupling term related to the rotational speed,，Indicating the angular velocity of the flux linkage of the rotor,Representing the stator cross-axis current,Representing the stator straight axis current flow,Representing the actual rotor permanent magnet flux linkage value; representing harmonic current state quantities other than the fundamental current, ，Represents the stator direct-axis harmonic current except the stator direct-axis fundamental current in the stator direct-axis current,Representing stator quadrature-axis harmonic currents other than the stator quadrature-axis fundamental current in the stator quadrature-axis currents;， Representation of The first derivative of the time t is given,Representation ofThe first derivative of time t.

; in the method, in the process of the invention, ，，。

The motor parameter values described above (including R _s、L_d、L_q and) The motor parameter value corresponding to the actual working condition, which is obtained in the actual working condition, can be determined by checking MAP.

In another possible implementation manner, the state transition matrix and the control input matrix in the continuous stator fundamental current equation are matrices composed of fixed motor parameters, and the disturbance term in the continuous stator fundamental current equation includes: the amount of disturbance caused by the immobilization of the time-varying motor parameters.

It should be noted that the parameters of the permanent magnet synchronous motor are changed along with the working condition of the motor and are time-variable; taking the state transition matrix as an example, the variable can be split into a fixed part and a time-varying part, and the term related to the time-varying part is regarded as disturbance, so as to obtain the continuous stator fundamental current equation.

；

In the continuous stator fundamental current equation, the state transition matrix a=a ₀, the control input matrix b=b ₀,R_s0 represents a preset stator resistance value (such as a nominal resistance value), L _d0 represents a preset stator direct axis inductance value (such as a stator direct axis nominal inductance value), and L _q0 represents a preset stator quadrature axis inductance value (such as a stator quadrature axis nominal inductance value); disturbance term of the continuous stator fundamental current equation ; G ₀ denotes an ac-dc axis coupling term related to the rotational speed,，Indicating the angular velocity of the flux linkage of the rotor,Representing the stator cross-axis current,Representing the stator straight axis current flow,Representing a preset rotor permanent magnet flux linkage value (such as a nominal rotor permanent magnet flux linkage value); representing harmonic current state quantities other than the fundamental current, ，Represents the stator direct-axis harmonic current except the stator direct-axis fundamental current in the stator direct-axis current,Represents the stator quadrature-axis harmonic currents other than the stator quadrature-axis fundamental current in the stator quadrature-axis currents,，Representation ofThe first derivative of the time t is given,Representation ofFirst derivative to time t; is the disturbance quantity caused by the immobilization of time-varying motor parameters.

; in the method, in the process of the invention, ，，; Namely:

；

Correspondingly, in a fundamental constant disturbance observer and an abnormal constant disturbance estimated value calculation formula based on a discrete stator fundamental current equation, a state transition matrix Control input matrix。

According to the scheme, on the basis of considering the harmonic current state quantity, the condition that the stator direct axis inductance, the stator quadrature axis inductance, the stator resistance and the rotor permanent magnet flux linkage change along with the system state change in the actual working condition are further considered, and the problem that the actual motor parameter acquisition is difficult is solved, the motor parameter is fixed, the motor parameter change is regarded as disturbance, a stator fundamental wave current equation which can better represent the actual current behavior of the permanent magnet synchronous motor is constructed, the dependence of the control scheme on the permanent magnet synchronous motor parameter is reduced, and a foundation is provided for realizing the high-precision permanent magnet synchronous motor control task.

In one or more embodiments provided by the present application, the fundamental constant disturbance observer may include a stator straight axis fundamental constant disturbance observer and a stator quadrature axis fundamental constant disturbance observer.

Specifically, for any one of the stator straight-axis fundamental constant disturbance observer and the stator quadrature-axis fundamental constant disturbance observer, the disturbance observer of the stator j-axis may be expressed as:

；

Wherein, The stator j-axis fundamental current observation at sampling time T,Represents the stator j-axis fundamental current observation value at the sampling time T-1 immediately preceding the sampling time T,The stator j-axis fundamental current value at the sampling time T-1,The stator j-axis fundamental constant disturbance observation representing the sampling instant T,Represents the stator j-axis fundamental constant disturbance observation value at the sampling time T-1,Representing state transition matricesThe element value of the J-th row and J-th column of (c),Representing a control input matrixThe element value of the J-th row and J-th column of (c),The stator j-axis control input voltage value representing the sampling instant T-1,AndAn observation gain coefficient of a disturbance observer representing the j-axis of the stator, andAndThe method meets the following conditions: matrix arrayThe amplitude of the eigenvalue of (2) is smaller than 1, so that the accuracy of the disturbance observer of the stator j-axis can be ensured.

The stator j-axis control input voltage value is different from the stator j-axis voltage value, and the stator j-axis control input voltage value is the control input voltage of the specific sub j-axis fundamental wave constant value disturbance observation system. Specifically, the stator j-axis at sampling time T-1 controls the input voltage valueThe determination of (2) may include the following steps L-N:

Step L, ignoring disturbance observer errors (i.e ) And assuming that the control input voltage of the stator j-axis fundamental constant disturbance observation system is equal to the stator j-axis voltage of the permanent magnet synchronous motor (i.e.) Will pre-establish the voltage equationSubstitution intoObtainingLaplace transformation is carried out to obtain the transfer function of the current control system of the stator j-axis permanent magnet synchronous motor。

Wherein,Representing a statorThe total axis disturbance consists of fundamental wave constant disturbance and abnormal fundamental wave constant disturbance,Representation ofOf (a), i.e. the stator being observedTotal disturbance of the shaft; Representing a stator The axis controls the input voltage at which the output voltage,Representing a statorAn axis voltage; The j-axis ideal input voltage of the stator j-axis fundamental wave constant disturbance observation system is represented; for state transition matrices The element value of the J-th row and J-th column of (c),To control input matrixThe element value of the J-th row and J-th column of (a); s denotes a laplace operator. The disturbance observation error may include an observation error of an observer.

M, constructing a stator j-axis current control system of the permanent magnet synchronous motor, wherein a controller is a PI controller, and parameters of the controller are calculated by the controller，Therein, whereinRepresenting j-axis system control bandwidth.

Fig. 4 shows a schematic structural diagram of the stator j-axis current control system constructed in the step M, and the transfer function of the stator j-axis current control system may be expressed as: Is a typical type I system.

Step N, calculating an ideal input voltage value at a sampling time T-1 based on a stator j-axis current control systemCalling a voltage equationThe stator j-axis control input voltage value at the sampling time T-1 can be calculated as。

In the process of determining the stator straight axis fundamental wave constant disturbance observer and the stator straight axis control input voltage value, j=d, j=1; in the stator quadrature fundamental constant disturbance observer and stator quadrature control input voltage value determination process, j=q, j=2.

The above solution provides a fundamental constant disturbance observer based on a state transition matrix and a control input matrix with fixed parameters, and for the fundamental constant disturbance observer based on the state transition matrix and the control input matrix with time-varying parameters and the construction process thereof, reference may be made to the above description and details are not repeated here.

In one or more embodiments of the present application, in the case where the continuous stator fundamental current equation is a current equation including disturbance quantity caused by time-varying parameter values of the permanent magnet synchronous motor, the abnormal-fundamental-value disturbance estimation value calculation formula may be expressed as:

；

When the abnormal constant disturbance values of adjacent sampling moments are equal, the above equation can be expressed as: so as to calculate the abnormal value disturbance value of the fundamental wave at the current sampling moment according to the abnormal value disturbance value.

In the case of neglecting the estimation error, the total disturbance of the current sampling moment can be determined by the scheme, and can be expressed as follows: Where k represents the current sampling instant.

In some embodiments of the present application, the calculating the stator direct axis voltage value and the stator quadrature axis voltage value according to the stator direct axis fundamental wave constant disturbance value, the stator quadrature axis fundamental wave constant disturbance value, the stator direct axis non-fundamental wave constant disturbance value and the stator quadrature axis non-fundamental wave constant disturbance value in the step S104 may include:

And calculating the stator direct-axis voltage value and the stator quadrature-axis voltage value corresponding to the stator direct-axis fundamental wave constant disturbance value, the stator quadrature-axis fundamental wave constant disturbance value, the stator direct-axis non-fundamental wave constant disturbance value and the stator quadrature-axis non-fundamental wave constant disturbance value according to the stator fundamental wave current equation and the dead beat prediction control idea.

In the dead beat prediction control concept, the stator direct axis fundamental current value at the next sampling time after the current sampling time is a preset stator direct axis current target value, and the stator quadrature axis fundamental current value at the next sampling time is a preset stator quadrature axis current target value. By way of example, this can be expressed as: In which, in the process, AndThe target value of the stator straight axis current and the target value of the stator quadrature axis current are sequentially represented, and can also be called as reference current, and are generally given by a rotating speed ring control system of the permanent magnet synchronous motor as shown in fig. 1; A stator straight-axis fundamental current value at a sampling timing k+1 subsequent to the current sampling timing k, The stator quadrature axis fundamental current value at the sampling time k+1 subsequent to the current sampling time k is represented. The dead beat prediction control concept is used for determining the control voltage and controlling the motor according to the control voltage, so that the stator direct axis fundamental current value at the later sampling moment tends to be equal to or more than the stator direct axis current target value, and the stator quadrature axis current value at the later sampling moment tends to be equal to or more than the stator quadrature axis current target value.

In one possible implementation, the stator direct axis voltage value and the stator quadrature axis voltage value at the current sampling time may be calculated by calculating the first derivative value of the stator direct axis current and the first derivative value of the stator quadrature axis current at the current sampling time according to a continuous stator fundamental current equation.

In another possible implementation, the stator direct axis voltage value and the stator quadrature axis voltage value at the current sampling time can also be calculated according to a discrete stator fundamental current equation. For a permanent magnet synchronous motor current control system, the control voltage value to be applied at the current sampling time can be expressed as:

；

in the method, in the process of the invention, Representation ofIs used for the inverse matrix of (a),，，。

Optionally, the state transition matrix and the control input matrix in the continuous stator fundamental current equation are matrices composed of time-varying motor parameters, and based on the matrices, the state transition matrix and the control input matrix are the matrices、AndThe matrix a and the matrix B in (B) can be matrices composed of time-varying motor parameters, i.e. a=a ₁ and b=b ₁, thenIs the determined total disturbance of the current sampling moment, and does not contain the disturbance quantity caused by time-varying motor parameter immobilization.

Optionally, the state transition matrix and the control input matrix in the continuous stator fundamental wave current equation are matrices formed by fixed motor parameters, and the disturbance term in the continuous stator fundamental wave current equation includes: the disturbance quantity caused by the immobilization of time-varying motor parameters, based on the disturbance quantity、AndThe matrix a and the matrix B in (B) can be matrices composed of fixed motor parameters, i.e. a=a ₀ and b=b ₀, thenIs the determined total disturbance of the current sampling moment, and contains the disturbance quantity caused by the immobilization of the time-varying motor parameters, and the control voltage value of the current sampling moment can be expressed as follows by way of example:

；

in the method, in the process of the invention, ，。

In some embodiments of the present application, the calculating the stator direct-axis voltage value and the stator quadrature-axis voltage value according to the stator direct-axis fundamental wave constant disturbance value, the stator quadrature-axis fundamental wave constant disturbance value, the stator direct-axis non-fundamental wave constant disturbance value and the stator quadrature-axis non-fundamental wave constant disturbance value in the step S104 may include the following steps O-P:

And step O, determining a control input voltage calculation formula according to the discrete stator fundamental wave current equation.

Wherein, the control input voltage calculation formula can be expressed as: has certain disturbance processing capability, wherein K represents a proportionality coefficient matrix, And satisfy the matrixThe eigenvalue amplitude of (c) is less than 1,Is the direct axis proportionality coefficient of the stator,Is the ratio coefficient of the stator quadrature axis.

It should be noted that, substituting the control input voltage calculation formula into the discrete stator fundamental current equation may obtain: in satisfying the matrix Under the condition that the characteristic value amplitude value of (2) is smaller than 1, the gradual convergence of the control effects on the stator direct axis current and the stator quadrature axis current can be ensured, and based on the gradual convergence, the matrix can be obtainedThe eigenvalue amplitude of (2) is smaller than 1, and the value of the proportional coefficient matrix is determined to determine the control voltage.

And step P, calling the control input voltage calculation formula, and calculating the stator direct-axis voltage value and the stator quadrature-axis voltage value according to the stator direct-axis fundamental current value, the stator quadrature-axis fundamental current value, the stator direct-axis fundamental constant disturbance value, the stator quadrature-axis fundamental constant disturbance value, the stator direct-axis non-fundamental constant disturbance value and the stator quadrature-axis non-fundamental constant disturbance value.

Optionally, the state transition matrix and the control input matrix in the continuous stator fundamental wave current equation are matrices formed by fixed motor parameters, and the disturbance term in the continuous stator fundamental wave current equation includes: the disturbance quantity caused by time-varying motor parameter immobilization is based on the discrete stator fundamental wave current equation,、AndThe matrix a and the matrix B in (B) are matrices composed of fixed motor parameters, i.e., a=a ₀ and b=b ₀.

According to the scheme, when the control voltage is determined by the control input voltage calculation formula, the system disturbance is compensated, so that the method has the characteristics of strong working condition adaptability and high robustness; matrix arrayThe motor parameter in the motor is a fixed value, so that the high-precision control task for the full working condition of the permanent magnet synchronous motor can be realized according to a group of proportional coefficients.

Optionally, the description of other implementations may refer to the above description, which is not repeated here.

According to the permanent magnet synchronous motor control scheme, under the condition of considering harmonic current influence, a continuous stator fundamental wave current equation is constructed, the description accuracy of the actual behavior of the permanent magnet synchronous motor is improved to a certain extent, and then, a high-precision discrete stator fundamental wave current equation is constructed according to the Taylor polynomial expansion principle; on the basis, based on the extracted fundamental wave current, observing fundamental wave constant disturbance values, calculating non-fundamental wave constant disturbance values, determining total disturbance of the system, and accordingly compensating the disturbance of the system; finally, on the basis of the discrete form stator fundamental wave current equation, the current control voltage value is obtained, and the permanent magnet synchronous motor is controlled according to the current control voltage value, so that the suppression of harmonic current in a current loop control system of the permanent magnet synchronous motor can be realized, the torque pulsation of the permanent magnet synchronous motor for external output torque is reduced, and a foundation is provided for realizing a high-precision permanent magnet synchronous motor control task.

The permanent magnet synchronous motor control device provided by the embodiment of the application is described below, and the permanent magnet synchronous motor control device described below and the permanent magnet synchronous motor control method described above can be referred to correspondingly.

Referring to fig. 5, fig. 5 is a schematic structural diagram of a permanent magnet synchronous motor control device according to an embodiment of the present application. As shown in fig. 5, the apparatus may include:

A fundamental wave current extraction unit 11 for extracting a stator straight axis fundamental wave current value and a stator quadrature axis fundamental wave current value at the current sampling time from the stator straight axis current and the stator quadrature axis current;

A fundamental constant disturbance determining unit 12, configured to invoke a pre-constructed fundamental constant disturbance observer, and observe and obtain a stator straight axis fundamental constant disturbance value and a stator quadrature axis fundamental constant disturbance value at the current sampling time; the fundamental wave constant disturbance observer is constructed according to a stator fundamental wave current equation, wherein the stator fundamental wave current equation is a current equation which is obtained by splitting fundamental wave current and harmonic current on the basis of an original stator current equation and takes the fundamental wave current as a state quantity, and disturbance quantity caused by the harmonic current is contained in a disturbance item of the stator fundamental wave current equation;

An abnormal fundamental wave abnormal value disturbance determining unit 13, configured to invoke an abnormal fundamental wave abnormal value disturbance estimation value calculation formula, and calculate a stator straight axis abnormal value disturbance estimation value and a stator quadrature axis abnormal value disturbance estimation value at a sampling time before the current sampling time according to the stator straight axis fundamental wave current value and the stator quadrature axis fundamental wave current value; taking the stator direct axis non-fundamental wave constant disturbance estimated value as the stator direct axis non-fundamental wave constant disturbance value at the current sampling moment, and taking the stator quadrature axis non-fundamental wave constant disturbance estimated value as the stator quadrature axis non-fundamental wave constant disturbance value at the current sampling moment; the calculation formula of the abnormal fundamental wave constant disturbance estimated value is a calculation formula obtained by dispersing the stator fundamental wave current equation by a forward Euler method;

A control voltage determining unit 14 for calculating a stator straight axis voltage value and a stator quadrature axis voltage value based on the stator straight axis fundamental wave constant disturbance value, the stator quadrature axis fundamental wave constant disturbance value, the stator straight axis non-fundamental wave constant disturbance value, and the stator quadrature axis non-fundamental wave constant disturbance value;

And the motor control unit 15 is used for controlling the permanent magnet synchronous motor according to the stator direct axis voltage value and the stator quadrature axis voltage value at the current sampling moment.

In one or more embodiments provided by the present application, the stator fundamental current equation is a discrete stator fundamental current equation, and is obtained by performing taylor expansion of a preset order on a state quantity at a sampling time subsequent to a specified sampling time; each order derivative value of the state quantity in the discrete stator fundamental wave current equation at the appointed sampling moment is calculated by a continuous stator fundamental wave current equation; the continuous stator fundamental wave current equation is a current equation which is obtained by dividing the state quantity in the original stator current equation and takes fundamental wave current as the state quantity, and disturbance items of the continuous stator fundamental wave current equation contain disturbance quantities caused by harmonic currents.

Wherein the continuous stator fundamental current equation is expressed as:

；

in the method, in the process of the invention, Representing the state quantity of the fundamental current,，Representing the stator direct axis fundamental current,Represents the fundamental current of the stator quadrature axis,，Representation ofThe first derivative of the time t is given,Representation ofThe first derivative of time t, a represents the state transition matrix, B represents the control input matrix, u represents the control input quantity,，Representing the direct axis voltage of the stator,Represents the stator quadrature axis voltage, f represents the disturbance term,，Representing the disturbance of the stator's straight axis,Representing stator cross-axis disturbances;

The discrete stator fundamental current equation is expressed as:

；

In the formula, for any sampling time T, the state quantity of the sampling time T+1 after the sampling time T ，The stator direct axis fundamental current value at sampling time T +1,The stator quadrature axis fundamental current value at the sampling time T+1 is represented; I represents a2 x 2 unit array, Representing a sampling period, n representing a preset taylor expansion order; state quantity at sampling time T，A stator straight-axis fundamental current value representing the sampling time T,A stator quadrature axis fundamental current value representing a sampling time T; control input quantity at sampling time T ,The stator direct axis voltage value representing the sampling instant T,The stator quadrature axis voltage value at the sampling time T is represented; ; disturbance term of sampling time T ；A stator straight axis disturbance value representing the sampling instant T,，A stator straight-axis fundamental constant disturbance value representing the sampling time T,A stator straight axis abnormal fundamental wave constant disturbance value representing a sampling time T; the stator quadrature disturbance value representing the sampling instant T, ，A stator quadrature fundamental constant disturbance value representing the sampling instant T,The stator quadrature axis abnormal value disturbance value at the sampling time T is represented.

In addition, the transformation process of the discrete stator fundamental current equation may be described above, and will not be described herein.

In one or more embodiments of the present application, the state transition matrix and the control input matrix in the continuous stator fundamental current equation are matrices composed of fixed motor parameters, and the disturbance term in the continuous stator fundamental current equation includes: the amount of disturbance caused by the immobilization of the time-varying motor parameters.

Wherein the continuous stator fundamental current equation can be expressed as:

；

In the continuous stator fundamental current equation, the state transition matrix a=a ₀, the control input matrix b=b ₀,R_s0 represents a preset stator resistance value, L _d0 represents a preset stator direct axis inductance value, and L _q0 represents a preset stator quadrature axis inductance value; disturbance term of the continuous stator fundamental current equation ; G ₀ denotes an ac-dc axis coupling term related to the rotational speed,，Indicating the angular velocity of the flux linkage of the rotor,Representing the stator cross-axis current,Representing the stator straight axis current flow,Representing a preset rotor permanent magnet flux linkage value; representing harmonic current state quantities other than the fundamental current, ，Represents the stator direct-axis harmonic current except the stator direct-axis fundamental current in the stator direct-axis current,Represents the stator quadrature-axis harmonic currents other than the stator quadrature-axis fundamental current in the stator quadrature-axis currents,，Representation ofThe first derivative of the time t is given,Representation ofFirst derivative to time t; is the disturbance quantity caused by the immobilization of time-varying motor parameters;

; in the method, in the process of the invention, ，，I.e. in the discrete stator fundamental current equation, a state transition matrixControl input matrix。

In one or more embodiments provided by the present application, the fundamental constant disturbance observer may include a stator straight axis fundamental constant disturbance observer and a stator quadrature axis fundamental constant disturbance observer. For any disturbance observer in the stator straight axis fundamental wave constant disturbance observer and the stator quadrature axis fundamental wave constant disturbance observer, the disturbance observer of the stator j axis is:

；

Wherein, The stator j-axis fundamental current observation at sampling time T,Represents the stator j-axis fundamental current observation value at the sampling time T-1 immediately preceding the sampling time T,The stator j-axis fundamental current value at the sampling time T-1,The stator j-axis fundamental constant disturbance observation representing the sampling instant T,Represents the stator j-axis fundamental constant disturbance observation value at the sampling time T-1,Representing state transition matricesThe element value of the J-th row and J-th column of (c),Representing a control input matrixThe element value of the J-th row and J-th column of (c),The stator j-axis control input voltage value representing the sampling instant T-1,AndAn observation gain coefficient of a disturbance observer representing the j-axis of the stator, andAndThe method meets the following conditions: matrix arrayThe magnitude of the eigenvalues of (c) is less than 1.

Wherein, in the stator straight axis fundamental constant disturbance observer, j=d, j=1; in the stator quadrature fundamental constant disturbance observer, j=q, j=2.

In one or more embodiments provided by the present application, the non-fundamental wave constant disturbance estimation value calculation formula may be a calculation formula obtained by splitting a disturbance term in a discrete equation, which is an equation obtained by processing the continuous stator fundamental wave current equation using a forward euler method, into a fundamental wave constant disturbance term and a non-fundamental wave constant disturbance term, and using the non-fundamental wave constant disturbance term as an unknown term to be calculated. The specific process of transforming to obtain the abnormal value disturbance estimated value calculation formula may be described above, and will not be described herein.

Wherein the discrete equation can be expressed as:

；

The abnormal value disturbance estimation calculation formula can be expressed as:

；

in the method, in the process of the invention, The stator direct axis fundamental current value at the sampling time T-1 immediately before the sampling time T,The stator quadrature axis fundamental current value at the sampling time T-1 is represented; The stator direct axis voltage value at sampling time T-1, The stator quadrature axis voltage value at the sampling time T-1 is represented; the stator straight axis disturbance value representing the sampling instant T-1, The stator quadrature disturbance value at the sampling time T-1 is represented; And Sequentially representing a stator straight axis fundamental wave constant disturbance value and a stator quadrature axis fundamental wave constant disturbance value at a sampling time T-1; And And sequentially representing the stator straight axis abnormal fundamental wave abnormal value disturbance estimated value and the stator quadrature axis abnormal value disturbance estimated value of the sampling time T-1 to be calculated.

In one or more embodiments provided by the present application, the state transition matrix and the control input matrix in the continuous stator fundamental current equation are each matrices composed of time-varying motor parameters.

Wherein the continuous stator fundamental current equation can be expressed as:

；

Wherein in the continuous stator fundamental current equation, the state transition matrix a=a ₁, the control input matrix b=b ₁,R_s represents an actual stator resistance value, L _d represents an actual stator direct axis inductance value, and L _q represents an actual stator quadrature axis inductance; disturbance term of the continuous stator fundamental current equation ; G ₁ denotes an ac-dc axis coupling term related to the rotational speed,，Indicating the angular velocity of the flux linkage of the rotor,Representing the stator cross-axis current,Representing the stator straight axis current flow,Representing the actual rotor permanent magnet flux linkage value; representing harmonic current state quantities other than the fundamental current, ，Represents the stator direct-axis harmonic current except the stator direct-axis fundamental current in the stator direct-axis current,Representing stator quadrature-axis harmonic currents other than the stator quadrature-axis fundamental current in the stator quadrature-axis currents;， Representation of The first derivative of the time t is given,Representation ofThe first derivative of time t.

In one or more embodiments of the present application, the process of calculating the stator direct axis voltage value and the stator quadrature axis voltage value by the control voltage determining unit 14 according to the stator direct axis fundamental wave constant value disturbance value, the stator quadrature axis fundamental wave constant value disturbance value, the stator direct axis non-fundamental wave constant value disturbance value and the stator quadrature axis non-fundamental wave constant value disturbance value may include:

Determining a control input voltage calculation formula according to the discrete stator fundamental current equation; the control input voltage calculation formula is expressed as: Wherein K represents a scale factor matrix, And satisfy the matrixThe eigenvalue amplitude of (c) is less than 1,Is the direct axis proportionality coefficient of the stator,Is the ratio coefficient of the stator intersecting axes;

And calling the control input voltage calculation formula, and calculating the stator direct-axis voltage value and the stator quadrature-axis voltage value according to the stator direct-axis fundamental current value, the stator quadrature-axis fundamental current value, the stator direct-axis fundamental constant disturbance value, the stator quadrature-axis fundamental constant disturbance value, the stator direct-axis abnormal disturbance value and the stator quadrature-axis abnormal disturbance value.

Calculating the stator direct-axis voltage value and the stator quadrature-axis voltage value corresponding to the stator direct-axis fundamental wave constant disturbance value, the stator quadrature-axis fundamental wave constant disturbance value, the stator direct-axis non-fundamental wave constant disturbance value and the stator quadrature-axis non-fundamental wave constant disturbance value according to the stator fundamental wave current equation and the dead beat prediction control idea; in the dead beat prediction control concept, the stator direct axis fundamental current value at the next sampling time of the current sampling time is a preset stator direct axis current target value, and the stator quadrature axis fundamental current value at the next sampling time is a preset stator quadrature axis current target value.

In one or more embodiments of the present application, the process of extracting the stator direct axis fundamental current value and the stator quadrature axis fundamental current value at the current sampling time by the fundamental current extracting unit 11 from the stator direct axis current and the stator quadrature axis current may include:

According to the rotor flux linkage electrical angle value of the current sampling moment corresponding to the fundamental wave, carrying out transformation from two-phase rotation to two-phase rest on the stator current state quantity to obtain a first intermediate state quantity; the stator current state quantity comprises a stator straight axis current and a stator quadrature axis current;

Sequentially carrying out conversion from two-phase stationary to two-phase rotary, low-pass filtering and conversion from two-phase rotary to two-phase stationary on the first intermediate state quantity according to the rotor flux linkage electrical angle value at the current sampling moment corresponding to the harmonic wave to obtain a second intermediate state quantity;

According to the opposite number of the rotor flux linkage electrical angle value at the current sampling moment corresponding to the harmonic wave, sequentially carrying out two-phase stationary to two-phase rotary conversion, low-pass filtering and two-phase rotary to two-phase stationary conversion on the first intermediate state quantity to obtain a third intermediate state quantity;

Adding the second intermediate state quantity and the third intermediate state quantity to obtain a fourth intermediate state quantity;

according to the rotor flux linkage electrical angle value of the current sampling moment corresponding to the fundamental wave, carrying out conversion from two-phase static to two-phase rotating on the fourth intermediate state quantity to obtain a fifth intermediate state quantity;

and subtracting the stator current state quantity from the fifth intermediate state quantity to obtain a fundamental current state quantity, and determining a stator direct axis fundamental current value and a stator quadrature axis fundamental current value at the current sampling moment.

The permanent magnet synchronous motor control device provided by the embodiment of the application can be applied to permanent magnet synchronous motor control equipment, such as electronic equipment with data processing capability: server, PC, PAD, cell phone, ECU (Electronic Control Unit, electronic controller unit), VCU (Vehicle Control Unit, vehicle controller), MCU (Micro Controller Unit, micro control unit), HCU (Hybrid Control Unit, hybrid control system), etc. Alternatively, fig. 6 shows a block diagram of a hardware structure of the permanent magnet synchronous motor control device, and referring to fig. 6, the hardware structure of the permanent magnet synchronous motor control device may include: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;

In the embodiment of the application, the number of the processor 1, the communication interface 2, the memory 3 and the communication bus 4 is at least one, and the processor 1, the communication interface 2 and the memory 3 complete the communication with each other through the communication bus 4;

The processor 1 may be a central processing unit CPU, or an Application-specific integrated Circuit ASIC (Application SPECIFIC INTEGRATED Circuit), or one or more integrated circuits configured to implement embodiments of the present invention, etc.;

The memory 3 may comprise a high-speed RAM memory, and may further comprise a non-volatile memory (non-volatile memory) or the like, such as at least one magnetic disk memory;

Wherein the memory is used for storing a computer program; the processor is used for executing a computer program stored in the memory, so that the permanent magnet synchronous motor control device can realize any one of the permanent magnet synchronous motor control methods provided by the embodiment of the application.

The embodiment of the application also provides a computer program product, which comprises computer readable instructions, wherein when the computer readable instructions run on the electronic equipment, the electronic equipment is enabled to realize any of the permanent magnet synchronous motor control methods provided by the embodiment of the application.

The embodiment of the application also provides a computer readable storage medium, which carries one or more computer programs, and when the one or more computer programs are executed by the electronic equipment, the electronic equipment can realize any permanent magnet synchronous motor control method provided by the embodiment of the application.

Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, 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 the element.

In the present specification, each embodiment is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and may be combined according to needs, and the same similar parts may be referred to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method of controlling a permanent magnet synchronous motor, comprising:

2. The permanent magnet synchronous motor control method according to claim 1, wherein the stator fundamental current equation is a discrete stator fundamental current equation;

The discrete stator fundamental current equation is obtained by carrying out Taylor expansion of a preset order on the state quantity of the next sampling time of the sampling time at the appointed sampling time; each order derivative value of the state quantity in the discrete stator fundamental wave current equation at the appointed sampling moment is calculated by a continuous stator fundamental wave current equation; the continuous stator fundamental wave current equation is a current equation which is obtained by dividing the state quantity in the original stator current equation and takes fundamental wave current as the state quantity, and disturbance items of the continuous stator fundamental wave current equation contain disturbance quantity caused by harmonic current;

Wherein the continuous stator fundamental current equation is expressed as:

；

The discrete stator fundamental current equation is expressed as:

；

3. The method according to claim 2, wherein the state transition matrix and the control input matrix in the continuous stator fundamental current equation are matrices composed of fixed motor parameters, and the disturbance term in the continuous stator fundamental current equation includes: disturbance quantity caused by time-varying motor parameter immobilization;

The continuous stator fundamental current equation is expressed as:

；

The discrete stator fundamental current equation is expressed as:

；

in the method, in the process of the invention, ，，。

4. The control method of a permanent magnet synchronous motor according to claim 3, wherein the fundamental constant disturbance observer includes a stator straight axis fundamental constant disturbance observer and a stator quadrature axis fundamental constant disturbance observer;

For any disturbance observer in the stator straight axis fundamental wave constant disturbance observer and the stator quadrature axis fundamental wave constant disturbance observer, the disturbance observer of the stator j axis is:

；

Wherein, The stator j-axis fundamental current observation at sampling time T,Represents the stator j-axis fundamental current observation value at the sampling time T-1 immediately preceding the sampling time T,The stator j-axis fundamental current value at the sampling time T-1,The stator j-axis fundamental constant disturbance observation representing the sampling instant T,Represents the stator j-axis fundamental constant disturbance observation value at the sampling time T-1,Representing state transition matricesThe element value of the J-th row and J-th column of (c),Representing a control input matrixThe element value of the J-th row and J-th column of (c),The stator j-axis control input voltage value representing the sampling instant T-1,AndAn observation gain coefficient of a disturbance observer representing the j-axis of the stator, andAndThe method meets the following conditions: matrix arrayThe magnitude of the eigenvalue of (a) is less than 1;

in the stator straight-axis fundamental constant disturbance observer, j=d, j=1; in the stator quadrature fundamental constant disturbance observer, j=q, j=2.

5. The permanent magnet synchronous motor control method according to claim 2, wherein the non-fundamental wave constant disturbance estimation value calculation formula is a calculation formula obtained by splitting a disturbance term in a discrete equation, which is an equation obtained by processing the continuous stator fundamental wave current equation using a forward euler method, into a fundamental wave constant disturbance term and a non-fundamental wave constant disturbance term, and taking the non-fundamental wave constant disturbance term as an unknown term to be calculated;

wherein the discrete equation is expressed as:

；

The abnormal value disturbance estimated value calculation formula is expressed as:

；

6. The method according to claim 2, wherein the state transition matrix and the control input matrix in the continuous stator fundamental current equation are matrices composed of time-varying motor parameters;

The continuous stator fundamental current equation is expressed as:

；

In the continuous stator fundamental current equation, the state transition matrix a=a ₁, the control input matrix b=b ₁,R_s represents the actual stator resistance value, L _d represents the actual stator direct axis inductance value, and L _q represents the actual stator quadrature axis inductance; disturbance term of the continuous stator fundamental current equation ; G ₁ denotes an ac-dc axis coupling term related to the rotational speed,，Indicating the angular velocity of the flux linkage of the rotor,Representing the stator cross-axis current,Representing the stator straight axis current flow,Representing the actual rotor permanent magnet flux linkage value; representing harmonic current state quantities other than the fundamental current, ，Represents the stator direct-axis harmonic current except the stator direct-axis fundamental current in the stator direct-axis current,Representing stator quadrature-axis harmonic currents other than the stator quadrature-axis fundamental current in the stator quadrature-axis currents;， Representation of The first derivative of the time t is given,Representation ofFirst derivative to time t;

The discrete stator fundamental current equation is expressed as:

；

in the method, in the process of the invention, ，，。

7. The method according to any one of claims 2 to 6, wherein the calculating a stator direct-axis voltage value and a stator quadrature-axis voltage value from the stator direct-axis fundamental constant disturbance value, the stator quadrature-axis fundamental constant disturbance value, the stator direct-axis non-fundamental constant disturbance value, and the stator quadrature-axis non-fundamental constant disturbance value includes:

8. The method according to any one of claims 1 to 6, wherein the calculating a stator direct-axis voltage value and a stator quadrature-axis voltage value from the stator direct-axis fundamental constant disturbance value, the stator quadrature-axis fundamental constant disturbance value, the stator direct-axis non-fundamental constant disturbance value, and the stator quadrature-axis non-fundamental constant disturbance value includes:

9. The method according to any one of claims 1 to 6, wherein extracting the stator direct axis fundamental current value and the stator quadrature axis fundamental current value at the current sampling time from the stator direct axis current and the stator quadrature axis current, comprises:

10. A permanent magnet synchronous motor control device, characterized by comprising:

11. A permanent magnet synchronous motor control device comprising at least one processor and a memory connected to the processor, wherein:

The memory is used for storing a computer program;

The processor is configured to execute the computer program to enable the permanent magnet synchronous motor control apparatus to implement the permanent magnet synchronous motor control method according to any one of claims 1 to 9.

12. A computer program product comprising computer readable instructions which, when run on an electronic device, cause the electronic device to implement the permanent magnet synchronous motor control method of any one of claims 1 to 9.