CN111277194A - Inductance parameter obtaining method and device - Google Patents
Inductance parameter obtaining method and device Download PDFInfo
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- CN111277194A CN111277194A CN202010176938.4A CN202010176938A CN111277194A CN 111277194 A CN111277194 A CN 111277194A CN 202010176938 A CN202010176938 A CN 202010176938A CN 111277194 A CN111277194 A CN 111277194A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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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 discloses an inductance parameter obtaining method and device. Wherein, the method comprises the following steps: acquiring a current electromagnetic power value of the permanent magnet synchronous motor; determining an electromagnetic power difference value between the current electromagnetic power value and a preset electromagnetic power value, wherein the electromagnetic power difference value is a difference value between an absolute value of the current electromagnetic power value and an absolute value of the preset electromagnetic power value; and inputting the electromagnetic power difference value into a proportional-integral controller to obtain a target inductance parameter output by the proportional-integral controller, wherein the target inductance parameter value is the difference value between a direct axis inductance parameter value and a quadrature axis inductance parameter value of the permanent magnet synchronous motor. The method solves the technical problem that the torque precision of the permanent magnet synchronous motor is reduced due to the fact that the existing method for identifying the inductance parameters of the permanent magnet synchronous motor has large errors.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a method and a device for acquiring inductance parameters.
Background
In the technical field, the current methods for identifying inductance parameters of permanent magnet synchronous motors are divided into two types: one is offline identification and one is online parameter identification.
However, whether offline or online parameter identification, the motor inductance is identified separately for the d-axis inductance and the q-axis inductance. In some cases, however, the specific values of the d-axis inductance and the q-axis inductance need not be known, but rather the difference between the d-axis inductance and the q-axis inductance is of interest. For example, the accuracy of a torque value obtained by a calculation method in an electric drive system of an electric vehicle is only related to the accuracy of the difference between the d-axis and q-axis inductances, and the single values of the d-axis and q-axis inductances may not be considered. For the d-axis inductance and the q-axis inductance which are respectively identified, no matter which method is adopted to respectively identify the d-axis inductance and the q-axis inductance, certain errors exist, secondary errors can be caused to inductance difference values after the errors are made, and the influence on the torque precision of the motor can be enlarged due to the accumulation of the errors.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides an inductance parameter obtaining method and device, which at least solve the technical problem that the torque precision of a permanent magnet synchronous motor is reduced due to the fact that the existing permanent magnet synchronous motor inductance parameter identification method has large errors.
According to an aspect of the embodiments of the present invention, there is provided an inductance parameter obtaining method, including: acquiring a current electromagnetic power value of the permanent magnet synchronous motor; determining an electromagnetic power difference value between the current electromagnetic power value and a preset electromagnetic power value, wherein the electromagnetic power difference value is a difference value between an absolute value of the current electromagnetic power value and an absolute value of the preset electromagnetic power value; and inputting the electromagnetic power difference value into a proportional-integral controller to obtain a target inductance parameter output by the proportional-integral controller, wherein the target inductance parameter value is the difference value between a direct axis inductance parameter value and a quadrature axis inductance parameter value of the permanent magnet synchronous motor.
Optionally, obtaining the current electromagnetic power value of the permanent magnet synchronous motor includes: acquiring an input power value and a copper loss value of the permanent magnet synchronous motor; and obtaining the current electromagnetic power value according to the difference value between the input power and the copper loss value.
Optionally, the obtaining the input power value of the permanent magnet synchronous motor includes: obtaining electrical parameter values of the permanent magnet synchronous motor, wherein the electrical parameter values include: value v of the direct axis voltagedQuadrature axis voltage value vqStraight axis current value idQuadrature axis current value iq(ii) a Calculating the input power value P according to the electrical parameter value by the following calculation formula1＝3(vqiq+vdid)/2。
Optionally, obtaining the copper loss value of the permanent magnet synchronous motor includes: obtaining the direct axis current value i of the permanent magnet synchronous motordQuadrature axis current value iqAnd stator resistance rs(ii) a According to the above-mentioned straight-axis current value i by the following calculation formuladQuadrature axis current value iqAnd the stator resistance value rsCalculating to obtain the copper consumption value
Alternatively, the stator resistance r of the permanent magnet synchronous motor is calculated by the following calculation formulasThe method comprises the following steps:
rs＝rsDC0(1+A×T)+rsAC(ii) a Wherein r issIs the stator resistance at T ℃; r issDC0The direct current resistance value of the stator winding at 0 ℃; a is the temperature coefficient of the stator winding material; r issACOf stator resistanceAn alternating current component.
Optionally, the current electromagnetic power value is obtained according to a difference between the input power and the copper loss value by the following calculation method: pem＝P1-pcuWherein P is1For the above input power value, pcuThe above copper loss value.
Optionally, before determining the electromagnetic power difference between the current electromagnetic power value and the predetermined electromagnetic power value, the method further includes: determining the predetermined electromagnetic power value by: acquiring a preset electromagnetic torque value of the permanent magnet synchronous motor; acquiring an actual rotating speed value of the permanent magnet synchronous motor detected by a sensor; and determining the predetermined electromagnetic power value according to the predetermined electromagnetic torque value and the actual rotating speed value.
Optionally, the predetermined electromagnetic power value is determined according to the predetermined electromagnetic torque value and the actual rotation speed value by the following calculation method:
Pem *＝Terefωrwherein, TerefThe predetermined electromagnetic torque value is obtained; omegarThe actual rotating speed value is obtained.
According to another aspect of the embodiments of the present invention, there is also provided an inductance parameter obtaining apparatus, including: the acquisition module is used for acquiring the current electromagnetic power value of the permanent magnet synchronous motor; a determining module, configured to determine an electromagnetic power difference between the current electromagnetic power value and a predetermined electromagnetic power value, where the electromagnetic power difference is a difference between an absolute value of the current electromagnetic power value and an absolute value of the predetermined electromagnetic power value; and the processing module is used for inputting the electromagnetic power difference value into a proportional-integral controller to obtain a target inductance parameter output by the proportional-integral controller, wherein the target inductance parameter value is the difference value between a direct axis inductance parameter value and a quadrature axis inductance parameter value of the permanent magnet synchronous motor.
According to another aspect of the embodiments of the present invention, there is further provided a storage medium, where the storage medium includes a stored program, and when the program runs, the storage medium is controlled to execute any one of the inductance parameter obtaining methods described above.
According to another aspect of the embodiments of the present invention, there is further provided a processor, wherein the processor is configured to execute a program, and the program executes any one of the inductance parameter obtaining methods.
In the embodiment of the invention, the current electromagnetic power value of the permanent magnet synchronous motor is obtained; determining an electromagnetic power difference value between the current electromagnetic power value and a preset electromagnetic power value, wherein the electromagnetic power difference value is a difference value between an absolute value of the current electromagnetic power value and an absolute value of the preset electromagnetic power value; and inputting the electromagnetic power difference value into a proportional-integral controller to obtain a target inductance parameter output by the proportional-integral controller, wherein the target inductance parameter value is the difference value between a direct axis inductance parameter value and a quadrature axis inductance parameter value of the permanent magnet synchronous motor, so that the aim of reducing the error of obtaining the inductance parameter of the permanent magnet synchronous motor is fulfilled, the technical effect of improving the torque precision of the permanent magnet synchronous motor is realized, and the technical problem that the torque precision of the permanent magnet synchronous motor is reduced due to the fact that the error is larger in the existing identification method of the inductance parameter of the permanent magnet synchronous motor is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flow chart of a method for obtaining inductance parameters according to an embodiment of the present invention;
FIG. 2 is a diagram of an alternative calculation procedure for obtaining inductance parameters by an estimator according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an inductance parameter obtaining apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
First, in order to facilitate understanding of the embodiments of the present invention, some terms or nouns referred to in the present invention will be explained as follows:
a PI controller: the proportional integral controller is also called as a PI regulator and is used for carrying out linear combination according to the proportion and the integral of the electromagnetic power difference value to form a control quantity and controlling a controlled object.
Example 1
In accordance with an embodiment of the present invention, there is provided an embodiment of an inductance parameter obtaining method, it should be noted that the steps shown in the flowchart of the drawings may be executed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that here.
Fig. 1 is a flowchart of an inductance parameter obtaining method according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps:
step S102, acquiring a current electromagnetic power value of the permanent magnet synchronous motor;
step S104, determining an electromagnetic power difference value between the current electromagnetic power value and a preset electromagnetic power value, wherein the electromagnetic power difference value is a difference value between an absolute value of the current electromagnetic power value and an absolute value of the preset electromagnetic power value;
and step S106, inputting the electromagnetic power difference value into a proportional-integral controller to obtain a target inductance parameter output by the proportional-integral controller, wherein the target inductance parameter value is the difference value between a direct axis inductance parameter value and a quadrature axis inductance parameter value of the permanent magnet synchronous motor.
In the embodiment of the invention, the current electromagnetic power value of the permanent magnet synchronous motor is obtained; determining an electromagnetic power difference value between the current electromagnetic power value and a preset electromagnetic power value, wherein the electromagnetic power difference value is a difference value between an absolute value of the current electromagnetic power value and an absolute value of the preset electromagnetic power value; and inputting the electromagnetic power difference value into a proportional-integral controller to obtain a target inductance parameter output by the proportional-integral controller, wherein the target inductance parameter value is the difference value between a direct axis inductance parameter value and a quadrature axis inductance parameter value of the permanent magnet synchronous motor, so that the aim of reducing the error of obtaining the inductance parameter of the permanent magnet synchronous motor is fulfilled, the technical effect of improving the torque precision of the permanent magnet synchronous motor is realized, and the technical problem that the torque precision of the permanent magnet synchronous motor is reduced due to the fact that the error is larger in the existing identification method of the inductance parameter of the permanent magnet synchronous motor is solved.
Optionally, the PI controller is also called a PI regulator, and is a proportional-integral controller, which is configured to linearly combine the proportion and the integral of the electromagnetic power difference to form a control quantity, and control the controlled object.
In the estimator calculation program shown in fig. 2, part 1 is a part in which the estimator calculates the current electromagnetic power value; part 2 is a part where the estimator calculates a predetermined electromagnetic power value; part 3 is a part that calculates an electromagnetic power difference value between the current electromagnetic power value and the predetermined electromagnetic power value; part 4, the PI controller calculates the target inductance parameter according to the electromagnetic power difference value; the 5 th part is a part for performing amplitude limitation according to the electromagnetic power difference, namely, performing proper amplitude limitation according to the inductance value of the actual motor.
In the process of obtaining the electromagnetic power difference, the stator resistance is brought into the estimator calculation program in advance, and other parameters can be obtained online in the process of controlling the motor in real time, so that the electromagnetic power difference Δ L can be obtained by calculating according to the time sequence flow chart in fig. 2.
In this embodiment, the target inductance parameter value is a difference between a direct axis inductance parameter value and a quadrature axis inductance parameter value of the permanent magnet synchronous motor.
As an alternative embodiment, the actual electromagnetic torque value of the permanent magnet synchronous motor is calculated by the following calculation formula:
the current electromagnetic power value of the permanent magnet synchronous motor can be expressed as follows: pem＝Teactωr(2) (ii) a Substituting the above formula (1) into formula (2) and taking the absolute value to obtain the following formula (3):
in addition, in the process of controlling the built-in permanent magnet synchronous motor, i is provided for realizing minimum loss control (or MTPA control)d0 or less, the above formula (3) can be modified as the following formula (4):
the target inductance parameter Δ L is derived from the above equation (4), resulting in the following equation (5):
the above equation (5) indicates that the relationship between the electromagnetic power value and the target inductance parameter Δ L is monotonic, and according to the monotonic relationship, the target inductance parameter Δ L value can be estimated by the PI controller based on the electromagnetic power difference between the current electromagnetic power value and the predetermined electromagnetic power value.
In an alternative embodiment, obtaining the current electromagnetic power value of the permanent magnet synchronous motor comprises:
step S202, acquiring an input power value and a copper loss value of the permanent magnet synchronous motor;
and step S204, obtaining the current electromagnetic power value according to the difference value between the input power and the copper loss value.
In an alternative embodiment, obtaining the input power value of the permanent magnet synchronous motor includes: obtaining electrical parameter values of the permanent magnet synchronous motor, wherein the electrical parameter values include: value v of the direct axis voltagedQuadrature axis voltage value vqStraight axis current value idQuadrature axis current value iq(ii) a Calculating the input power value P according to the electrical parameter value by the following calculation formula1＝3(vqiq+vdid)/2。
In an alternative embodiment, obtaining the copper loss value of the permanent magnet synchronous motor includes: obtaining the direct axis current value i of the permanent magnet synchronous motordQuadrature axis current value iqAnd stator resistance rs(ii) a According to the above-mentioned straight-axis current value i by the following calculation formuladQuadrature axis current value iqAnd the stator resistance value rsCalculating to obtain the copper consumption value
In an alternative embodiment, the stator resistance r of the permanent magnet synchronous motor is calculated by the following calculation formulasThe method comprises the following steps:
rs＝rsDC0(1+A×T)+rsAC(ii) a Wherein r issIs the stator resistance at T ℃; r issDC0The direct current resistance value of the stator winding at 0 ℃; a is stator winding materialTemperature coefficient of the material; r issACIs the alternating component of the stator resistance value.
In an alternative embodiment, the current electromagnetic power value is obtained according to a difference between the input power and the copper loss value by the following calculation method:
Pem＝P1-pcuwherein P is1For the above input power value, pcuThe above copper loss value.
In an optional embodiment, before determining the electromagnetic power difference between the current electromagnetic power value and the predetermined electromagnetic power value, the method further comprises: determining the predetermined electromagnetic power value by:
step S302, acquiring a preset electromagnetic torque value of the permanent magnet synchronous motor;
step S304, acquiring the actual rotating speed value of the permanent magnet synchronous motor detected by a sensor;
step S306, determining the predetermined electromagnetic power value according to the predetermined electromagnetic torque value and the actual rotation speed value.
Optionally, the predetermined electromagnetic power value is determined according to the predetermined electromagnetic torque value and the actual rotation speed value by the following calculation method:
Pem *＝Terefωrwherein, TerefThe predetermined electromagnetic torque value is obtained; omegarThe actual rotating speed value is obtained.
Compared with the prior art, according to the embodiment of the application, the electromagnetic power difference value is directly obtained without respectively calculating the d-axis inductance parameter and the q-axis inductance parameter, intermediate links are reduced, and the purpose of reducing the error of obtaining the inductance parameter of the permanent magnet synchronous motor can be achieved, so that the technical effect of improving the torque precision of the permanent magnet synchronous motor is achieved.
Example 2
According to an embodiment of the present invention, an embodiment of an apparatus for implementing the inductance parameter obtaining method is further provided, fig. 3 is a schematic structural diagram of an inductance parameter obtaining apparatus according to an embodiment of the present invention, and as shown in fig. 3, the inductance parameter obtaining apparatus includes: an acquisition module 30, a determination module 32 and a processing module 34, wherein:
the obtaining module 30 is configured to obtain a current electromagnetic power value of the permanent magnet synchronous motor; a determining module 32, configured to determine an electromagnetic power difference between the current electromagnetic power value and a predetermined electromagnetic power value, where the electromagnetic power difference is a difference between an absolute value of the current electromagnetic power value and an absolute value of the predetermined electromagnetic power value; and a processing module 34, configured to input the electromagnetic power difference value into a proportional-integral controller, so as to obtain a target inductance parameter output by the proportional-integral controller, where the target inductance parameter value is a difference between a direct-axis inductance parameter value and a quadrature-axis inductance parameter value of the permanent magnet synchronous motor.
It should be noted that the above modules may be implemented by software or hardware, for example, for the latter, the following may be implemented: the modules can be located in the same processor; alternatively, the modules may be located in different processors in any combination.
It should be noted here that the above-mentioned acquiring module 30, determining module 32 and processing module 34 correspond to steps S102 to S106 in embodiment 1, and the above-mentioned modules are the same as the examples and application scenarios realized by the corresponding steps, but are not limited to what is disclosed in embodiment 1 above. It should be noted that the modules described above may be implemented in a computer terminal as part of an apparatus.
It should be noted that, reference may be made to the relevant description in embodiment 1 for alternative or preferred embodiments of this embodiment, and details are not described here again.
The inductance parameter acquiring device may further include a processor and a memory, and the acquiring module 30, the determining module 32, the processing module 34, and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.
The processor comprises a kernel, and the kernel calls a corresponding program unit from the memory, wherein one or more than one kernel can be arranged. The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
According to the embodiment of the application, the embodiment of the storage medium is also provided. Optionally, in this embodiment, the storage medium includes a stored program, and when the program runs, the device on which the storage medium is located is controlled to execute the any inductance parameter obtaining method.
Optionally, in this embodiment, the storage medium may be located in any one of a group of computer terminals in a computer network, or in any one of a group of mobile terminals, and the storage medium includes a stored program.
Optionally, the program controls the device on which the storage medium is located to perform the following functions when running: acquiring a current electromagnetic power value of the permanent magnet synchronous motor; determining an electromagnetic power difference value between the current electromagnetic power value and a preset electromagnetic power value, wherein the electromagnetic power difference value is a difference value between an absolute value of the current electromagnetic power value and an absolute value of the preset electromagnetic power value; and inputting the electromagnetic power difference value into a proportional-integral controller to obtain a target inductance parameter output by the proportional-integral controller, wherein the target inductance parameter value is the difference value between a direct axis inductance parameter value and a quadrature axis inductance parameter value of the permanent magnet synchronous motor.
According to the embodiment of the application, the embodiment of the processor is also provided. Optionally, in this embodiment, the processor is configured to execute a program, where the program executes the any one of the inductance parameter obtaining methods.
The embodiment of the application provides equipment, the equipment comprises a processor, a memory and a program which is stored on the memory and can run on the processor, and the following steps are realized when the processor executes the program: acquiring a current electromagnetic power value of the permanent magnet synchronous motor; determining an electromagnetic power difference value between the current electromagnetic power value and a preset electromagnetic power value, wherein the electromagnetic power difference value is a difference value between an absolute value of the current electromagnetic power value and an absolute value of the preset electromagnetic power value; and inputting the electromagnetic power difference value into a proportional-integral controller to obtain a target inductance parameter output by the proportional-integral controller, wherein the target inductance parameter value is the difference value between a direct axis inductance parameter value and a quadrature axis inductance parameter value of the permanent magnet synchronous motor.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: acquiring a current electromagnetic power value of the permanent magnet synchronous motor; determining an electromagnetic power difference value between the current electromagnetic power value and a preset electromagnetic power value, wherein the electromagnetic power difference value is a difference value between an absolute value of the current electromagnetic power value and an absolute value of the preset electromagnetic power value; and inputting the electromagnetic power difference value into a proportional-integral controller to obtain a target inductance parameter output by the proportional-integral controller, wherein the target inductance parameter value is the difference value between a direct axis inductance parameter value and a quadrature axis inductance parameter value of the permanent magnet synchronous motor.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (11)
1. An inductance parameter obtaining method is characterized by comprising the following steps:
acquiring a current electromagnetic power value of the permanent magnet synchronous motor;
determining an electromagnetic power difference value between the current electromagnetic power value and a predetermined electromagnetic power value, wherein the electromagnetic power difference value is a difference value between an absolute value of the current electromagnetic power value and an absolute value of the predetermined electromagnetic power value;
and inputting the electromagnetic power difference value into a proportional-integral controller to obtain a target inductance parameter output by the proportional-integral controller, wherein the target inductance parameter value is the difference value between a direct axis inductance parameter value and a quadrature axis inductance parameter value of the permanent magnet synchronous motor.
2. The method of claim 1, wherein obtaining the current electromagnetic power value of the permanent magnet synchronous machine comprises:
acquiring an input power value and a copper loss value of the permanent magnet synchronous motor;
and obtaining the current electromagnetic power value according to the difference value between the input power and the copper consumption value.
3. The method of claim 2, wherein obtaining the input power value of the permanent magnet synchronous motor comprises:
obtaining electrical parameter values of the permanent magnet synchronous motor, wherein the electrical parameter values comprise: value v of the direct axis voltagedQuadrature axis voltage value vqStraight axis current value idQuadrature axis current value iq；
Calculating the input power value P according to the electrical parameter value by the following calculation formula1＝3(vqiq+vdid)/2
4. The method of claim 2, wherein obtaining the copper loss value of the permanent magnet synchronous machine comprises:
obtaining the direct-axis current value i of the permanent magnet synchronous motordQuadrature axis current value iqAnd stator resistance rs；
According to the straight-axis current value i by the following calculation formuladQuadrature axis current value iqAnd the stator resistance value rsAnd calculating to obtain the copper consumption value
5. The method according to claim 4, wherein the stator resistance r of the PMSM is calculated by the following calculation formulasThe method comprises the following steps:
rs＝rsDC0(1+A×T)+rsAC；
wherein r issIs the stator resistance at T ℃; r issDC0The direct current resistance value of the stator winding at 0 ℃; a is the temperature coefficient of the stator winding material; r issACIs the alternating component of the stator resistance value.
6. The method according to claim 4, characterized in that the current electromagnetic power value is obtained from the difference between the input power and the copper loss value by the following calculation:
Pem＝P1-pcuwherein P is1For said input power value, pcuAnd the copper loss value is obtained.
7. The method of claim 1, wherein prior to determining the electromagnetic power difference value for the current electromagnetic power value and a predetermined electromagnetic power value, the method further comprises: determining the predetermined electromagnetic power value by:
acquiring a preset electromagnetic torque value of the permanent magnet synchronous motor;
acquiring an actual rotating speed value of the permanent magnet synchronous motor detected by a sensor;
and determining the preset electromagnetic power value according to the preset electromagnetic torque value and the actual rotating speed value.
8. Method according to claim 7, characterized in that the predetermined electromagnetic power value is determined from the predetermined electromagnetic torque value and the actual rotational speed value by means of the following calculation:
Pem *＝Terefωr，
wherein, TerefIs the predetermined electromagnetic torque value; omegarAnd the actual rotating speed value is obtained.
9. An inductance parameter acquisition apparatus, comprising:
the acquisition module is used for acquiring the current electromagnetic power value of the permanent magnet synchronous motor;
a determining module, configured to determine an electromagnetic power difference between the current electromagnetic power value and a predetermined electromagnetic power value, where the electromagnetic power difference is a difference between an absolute value of the current electromagnetic power value and an absolute value of the predetermined electromagnetic power value;
and the processing module is used for inputting the electromagnetic power difference value into a proportional-integral controller to obtain a target inductance parameter output by the proportional-integral controller, wherein the target inductance parameter value is the difference value between a direct axis inductance parameter value and a quadrature axis inductance parameter value of the permanent magnet synchronous motor.
10. A storage medium, characterized in that the storage medium comprises a stored program, wherein when the program runs, a device in which the storage medium is located is controlled to execute the inductance parameter obtaining method according to any one of claims 1 to 8.
11. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute the inductance parameter obtaining method according to any one of claims 1 to 8 when running.
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