CN111969918A - Method and device for determining motor operation information and computer readable storage medium - Google Patents
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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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
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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
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/09—Motor speed determination based on the current and/or voltage without using a tachogenerator or a physical encoder
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention discloses a method and a device for determining motor operation information and a computer readable storage medium. Wherein, the method comprises the following steps: acquiring an actual straight shaft current value in the running process of the permanent magnet synchronous motor; acquiring a pre-estimated direct-axis current value in the running process of the permanent magnet synchronous motor; and determining the operation information of the rotor in the permanent magnet synchronous motor according to the difference value of the actual direct-axis current value and the estimated direct-axis current value. The invention solves the technical problem that the cost is increased by arranging a speed sensor to detect the position and the speed of the rotor in the vector control of the permanent magnet synchronous motor in the related technology.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a method and a device for determining motor operation information and a computer readable storage medium.
Background
In the vector control of a high-performance permanent magnet synchronous motor, the speed detection and position information of a rotor are very important, a speed sensor is often installed on a rotor shaft of the motor, and the installation of mechanical position sensors such as a photoelectric encoder, a magnetic encoder and a rotary transformer brings a series of defects of system cost improvement, volume increase, robustness reduction, incapability of normally working in a severe environment and the like to the whole control system.
In order to solve the above problems, a synovial observer method, an extended kalman filter method, a Model Reference Adaptive (MRAS), a neural network method, a state observer, and the like are generally used. For example, in the prior art, a permanent magnet synchronous motor position sensorless control method is provided, although an extended state observer is improved, speed estimation cannot be always performed optimally in a wide speed range, angular speed estimation in the method is obtained by observing back electromotive force by using the extended state observer and then performing phase-locked loop, and the control method is not only complicated, but also phase-locked failure may occur. For another example, the prior art further provides a method and an apparatus for controlling a high-speed permanent magnet synchronous motor, and a computer storage medium, wherein the method mainly uses model reference adaptation to estimate the rotational speed of the motor, and uses the stator current of the motor to construct a reference model and an adjustable model, and then establishes a suitable adaptive law to perform speed estimation.
In order to solve the problem that in the vector control of the permanent magnet synchronous motor in the related art, the cost is increased by detecting the position and the speed of the rotor by arranging a sensor, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the invention provides a method and a device for determining motor operation information and a computer readable storage medium, which are used for at least solving the technical problem that in the vector control of a permanent magnet synchronous motor in the related art, the cost is increased by arranging a speed sensor to detect the position and the speed of a rotor.
According to an aspect of an embodiment of the present invention, there is provided a method of determining motor operation information, including: acquiring an actual straight shaft current value in the running process of the permanent magnet synchronous motor; acquiring a pre-estimated direct-axis current value of the permanent magnet synchronous motor in the running process; and determining the operation information of the rotor in the permanent magnet synchronous motor according to the difference value of the actual direct-axis current value and the estimated direct-axis current value.
Optionally, obtaining an actual direct-axis current value of the permanent magnet synchronous motor during operation includes: obtaining phase current in the running process of the permanent magnet synchronous motor; and converting the phase current to obtain an actual straight-axis current value corresponding to the phase current.
Optionally, after obtaining the actual direct-axis current value during the operation of the permanent magnet synchronous motor, the method for determining the motor operation information further includes: constructing a reference model based on the actual direct-axis current value, wherein a correlation equation corresponding to the reference model is as follows:
udrepresenting the value of the direct-axis voltage, idRepresenting said actual direct axis current value, RsRepresents the stator resistance value, LdRepresenting the direct-axis inductance, LqRepresents the quadrature inductance and ω represents the actual rotational speed of the rotor.
Optionally, after obtaining the estimated direct axis current value during the operation of the permanent magnet synchronous motor, the method for determining the motor operation information further includes: constructing an adjustable model based on the estimated straight-axis current value, wherein the corresponding correlation equation of the adjustable model is as follows:
usdwhich represents the direct-axis modulation voltage,
which represents the estimated direct-axis current,
indicating the estimated cross-axis current value,
and representing the estimated rotating speed value of the rotor.
Optionally, after constructing the adjustable model based on the estimated straight-axis current value, the method for determining the motor operation information further includes: and adjusting the adjustable model in a self-adaptive mode until the difference value between the actual straight-axis current value and the estimated straight-axis current value is smaller than a preset threshold value.
According to another aspect of the embodiments of the present invention, there is also provided a device for determining motor operation information, including: the first acquisition unit is used for acquiring the actual direct axis current value of the permanent magnet synchronous motor in the operation process; the second acquisition unit is used for acquiring the estimated direct axis current value of the permanent magnet synchronous motor in the operation process; and the determining unit is used for determining the operation information of the rotor in the permanent magnet synchronous motor according to the difference value of the actual direct-axis current value and the estimated direct-axis current value.
Optionally, the first obtaining unit includes: the acquisition module is used for acquiring phase current in the running process of the permanent magnet synchronous motor; and the conversion module is used for converting the phase current to obtain an actual straight-axis current value corresponding to the phase current.
Optionally, the device for determining the motor operation information further includes: the first construction unit is used for constructing a reference model based on an actual direct-axis current value after the actual direct-axis current value in the running process of the permanent magnet synchronous motor is obtained, wherein a correlation equation corresponding to the reference model is as follows:
udrepresenting the value of the direct-axis voltage, idRepresenting said actual direct axis current value, RsRepresents the stator resistance value, LdRepresenting the direct-axis inductance, LqRepresents the quadrature inductance and ω represents the actual rotational speed of the rotor.
Optionally, the device for determining the motor operation information further includes: a second construction unit for obtaining the operation of the permanent magnet synchronous motorAfter the straight-axis current value is estimated in the process, an adjustable model is constructed based on the estimated straight-axis current value, wherein a correlation equation corresponding to the adjustable model is as follows:
usdwhich represents the direct-axis modulation voltage,
which represents the estimated direct-axis current,
indicating the estimated cross-axis current value,
and representing the estimated rotating speed value of the rotor.
Optionally, the device for determining the motor operation information further includes: and the adjusting unit is used for adjusting the adjustable model in a self-adaptive mode after the adjustable model is built based on the estimated straight-axis current value until the difference value between the actual straight-axis current value and the estimated straight-axis current value is smaller than a preset threshold value.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored computer program, wherein when the computer program is executed by a processor, the computer program controls an apparatus in which the computer storage medium is located to execute the method for determining the motor operation information.
According to another aspect of the embodiment of the present invention, there is further provided a processor, configured to execute a computer program, where the computer program executes to perform the method for determining the motor operation information described in any one of the above.
In the embodiment of the invention, the actual direct-axis current value in the running process of the permanent magnet synchronous motor is obtained; acquiring a pre-estimated direct-axis current value in the running process of the permanent magnet synchronous motor; the method for determining the motor operation information provided by the embodiment of the invention realizes the purpose of establishing a self-adaptive law to estimate the motor rotating speed through the difference between the direct shaft currents, achieves the technical effect of improving and reducing the cost of obtaining the motor operation information, and further solves the technical problem that the cost is increased by arranging a speed sensor to detect the position and the speed of the rotor in the vector control of the permanent magnet synchronous motor in the related technology.
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 schematic diagram of a novel model reference adaptive position sensorless control system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a sampling loop according to an embodiment of the present invention;
fig. 3 is a flowchart of a method of determining motor operation information according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of angle estimation according to an embodiment of the present invention;
FIG. 5 is a block diagram of an equivalent structure corresponding to an error equation in an embodiment of the present invention;
fig. 6 is a schematic diagram of a determination apparatus of motor operation information 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.
Some terms or terms appearing in the embodiments of the present invention are explained below.
Permanent Magnet Synchronous Motor (PMSM) for short: namely, a permanent magnet synchronous motor, which is a synchronous motor in which a permanent magnet is used for a rotor instead of a winding.
The self-adaptive system comprises the following steps: the system is a control system, can modify the characteristics of the system to adapt to the changes of the dynamic characteristics of the object and disturbance, and determines the current actual working state of the controlled object by continuously acquiring control process information during the operation of the system, optimizes performance criteria and generates an adaptive control rule, thereby adjusting the structure or parameters of a controller in real time and enabling a system clock to automatically work in an optimal or suboptimal operating state.
A voltage follower: the common collector amplifier circuit is a widely used circuit, mainly used for amplifying an alternating current to improve the load carrying capacity of the whole amplifier circuit, and generally used as an output stage or an isolation stage.
In view of the above problem, in an embodiment of the present invention, a novel model-reference-adaptive position-sensorless control system is provided, and fig. 1 is a schematic diagram of the novel model-reference-adaptive position-sensorless control system according to an embodiment of the present invention, as shown in fig. 1, the system includes: main loop, sampling loop, rotorA speed estimation unit and a motor control unit; wherein, the major loop includes: a three-phase inverter, a drive circuit, a protection circuit, and a motor (i.e., a permanent magnet synchronous motor PMSM); fig. 2 is a schematic diagram of a sampling loop according to an embodiment of the present invention, as shown in fig. 2, including: the operational amplifier circuit and the voltage follower can complete current sampling through the sampling loop, so that the three-phase current i of the motor is obtaineda,b,c. Wherein, UrefIs the bias voltage of the hall sensor itself.
Further, the rotation speed estimating means: estimating the real-time rotating speed and the rotor position angle of the motor by using the real-time current information of the motor; a motor control unit: the vector control of the high performance of the motor is realized.
The following describes a method and an apparatus for determining motor operation information according to an embodiment of the present invention in detail.
Example 1
In accordance with an embodiment of the present invention, there is provided a method embodiment of a method of determining motor operating information, it being noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than presented herein.
Fig. 3 is a flowchart of a method for determining motor operation information according to an embodiment of the present invention, and as shown in fig. 3, the method for determining motor operation information includes the steps of:
and step S302, acquiring an actual direct-axis current value of the permanent magnet synchronous motor in the running process.
Optionally, obtaining an actual direct axis current value of the permanent magnet synchronous motor in the operation process includes: obtaining phase current in the running process of the permanent magnet synchronous motor; and converting the phase current to obtain an actual straight-axis current value corresponding to the phase current.
In an alternative embodiment, a sampling loop may be used to obtain the phase current; the collected stator current i of the motor can then be usedabcCarrying out Park/Clack conversion to obtain idAnd iq。
And step S304, acquiring the estimated straight shaft current value in the running process of the permanent magnet synchronous motor.
Optionally, in the embodiment of the present invention, a novel model-based reference adaptive system MRAS may be used to estimate the angle, and a schematic diagram of the angle estimation is shown in fig. 4, where fig. 4 is a schematic diagram of the angle estimation according to the embodiment of the present invention.
And S306, determining the operation information of the rotor in the permanent magnet synchronous motor according to the difference value of the actual direct-axis current value and the estimated direct-axis current value.
Therefore, in the embodiment of the invention, the actual direct-axis current value in the running process of the permanent magnet synchronous motor is obtained; acquiring a pre-estimated direct-axis current value in the running process of the permanent magnet synchronous motor; the operation information of the rotor in the permanent magnet synchronous motor is determined according to the difference value of the actual direct-axis current value and the estimated direct-axis current value, the purpose of estimating the motor rotating speed by establishing a self-adaptive law through the difference value of the direct-axis currents is achieved, and the technical effect of reducing the cost for obtaining the operation information of the motor is achieved.
Therefore, the method for determining the motor operation information provided by the embodiment of the invention solves the technical problem that in the vector control of the permanent magnet synchronous motor in the related art, the cost is increased by arranging the speed sensor to detect the position and the speed of the rotor.
In an alternative embodiment, after obtaining the actual direct-axis current value during the operation of the permanent magnet synchronous motor, the method for determining the motor operation information further comprises: constructing a reference model based on the actual direct axis current value, wherein a correlation equation corresponding to the reference model is as follows:
udrepresenting the value of the direct-axis voltage, idRepresenting the actual direct axis current value, RsRepresents the stator resistance value, LdRepresenting the direct-axis inductance, LqRepresents the quadrature inductance and ω represents the actual rotational speed of the rotor.
In this embodiment, the reference model may be constructed using measured direct axis current values, the equations of which are shown above.
In an optional embodiment, after obtaining the estimated direct-axis current value during the operation of the permanent magnet synchronous motor, the method for determining the motor operation information further comprises: constructing an adjustable model based on the estimated direct axis current value, wherein the corresponding correlation equation of the adjustable model is as follows:
usdwhich represents the direct-axis modulation voltage,
which represents the estimated direct-axis current,
indicating the estimated cross-axis current value,
representing the estimated rotational speed value of the rotor.
In this embodiment, the angle may be estimated by
Direct axis current of
A tunable model is constructed whose equations are shown above.
In an optional embodiment, after constructing the adjustable model based on the estimated direct-axis current value, the method for determining the motor operation information further includes: and adjusting the adjustable model in a self-adaptive mode until the difference value between the actual direct-axis current value and the estimated direct-axis current value is smaller than a preset threshold value.
In this embodiment, the angle may be estimated based on a novel model-referenced adaptive system MRAS pair
The adjustable model is adjusted in real time by adopting a proper self-adaptive rule, so that the generalized error is stable under the condition of system stability
Will steadily go to zero under this adjustment, thereby causing the output of the adjustable model to track the reference model output.
In an optional embodiment, the adjustable model is adjusted in a self-adaptive manner, and an error state equation may be constructed until a difference between an actual direct-axis current value and an estimated direct-axis current value is smaller than a predetermined threshold, where the error state equation may be:
at this time, it can be defined that:
the error equation constructed may then be:
v ═ Ce + Du ═ Ce-DW, in which,
B＝[1]，C＝[1]fig. 5 is a block diagram of an equivalent structure corresponding to the error equation of the embodiment of the present invention, which is specifically shown in fig. 5.
In addition, in the embodiment of the present invention, the novel MRAS method is to use the direct axis current idAccording to the Popov hyperstability theory, when the system meets the Popov inequality shown in the following formula, the system is a hyperstable system:
r0is an arbitrary value.
Then the angle is estimated
The equation corresponding to the established adaptive law is as follows:
the rotor angle of the motor
Is an angle
Is shown in the following equation:
therefore, in the embodiment of the invention, the phase current of the motor can be acquired through the corresponding sampling circuit, the direct-axis current and the quadrature-axis current are obtained through coordinate transformation, and then the direct-axis current is used for establishing a related self-adaptive law to estimate the rotating speed of the motor. In the method, quadrature-axis current is not required to be considered, and the angular velocity estimation value of the motor can be obtained only by carrying out corresponding proportional-integral control on the difference of direct-axis current. Meanwhile, the method can well identify the position and the speed of the motor rotor in the motor in a full-speed section. Because the relative self-adaptive law established by the direct-axis current estimates the rotating speed of the motor, the method is simple, the related motor parameters are few, the quadrature-axis current with a large change range does not need to be considered, and the position and the speed of the rotor of the motor can be well identified in a full-speed section; in addition, the method for estimating the rotating speed by utilizing the stator current in the traditional model-based reference self-adaptation is simplified, and meanwhile, the method has stronger robustness on motor parameter disturbance and uncertain factors.
Therefore, according to the method for determining the motor operation information provided by the embodiment of the invention, the novel MRAS method based on the direct-axis current is adopted for angle estimation, and the motor is controlled without a position sensor, so that not only is a hardware circuit simple, but also the adjustment parameters are few, the method can be applied to the full frequency band of the motor, meanwhile, the method is simpler compared with the method for estimating the angle by the MRAS established based on the stator current or the quadrature-axis current, the quadrature-axis current with a large change range does not need to be considered, and only the influence of the direct-axis current needs to be considered. The method is applied to a vector control system of the permanent magnet synchronous motor, has good dynamic response performance, has strong robustness to motor parameter disturbance and uncertain factors, and can well identify the position and the speed of a motor rotor in the motor at a full-speed section. The method simplifies the whole operation process, shortens the execution time of the DSP and improves the response speed.
Example 2
According to another aspect of the embodiment of the present invention, there is also provided a motor operation information determining apparatus, and fig. 6 is a schematic diagram of the motor operation information determining apparatus according to the embodiment of the present invention, as shown in fig. 6, the motor operation information determining apparatus includes: a first acquisition unit 61, a second acquisition unit 63 and a determination unit 65. The following describes a device for determining the motor operation information.
And the first acquiring unit 61 is used for acquiring an actual direct-axis current value in the running process of the permanent magnet synchronous motor.
And a second obtaining unit 63, configured to obtain an estimated direct-axis current value of the permanent magnet synchronous motor in the operation process.
And the determining unit 65 is used for determining the operation information of the rotor in the permanent magnet synchronous motor according to the difference value of the actual direct-axis current value and the estimated direct-axis current value.
It should be noted here that the above-mentioned first acquiring unit 61, second acquiring unit 63 and determining unit 65 correspond to steps S302 to S306 in embodiment 1, and the above-mentioned units 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 above-described elements as part of an apparatus may be implemented in a computer system, such as a set of computer-executable instructions.
As can be seen from the above, in the above embodiments of the present application, the first obtaining unit may be used to obtain the actual direct-axis current value of the permanent magnet synchronous motor during the operation process; then, acquiring the estimated direct axis current value of the permanent magnet synchronous motor in the running process by using a second acquisition unit; and determining the operation information of the rotor in the permanent magnet synchronous motor by using the determining unit according to the difference value of the actual direct-axis current value and the estimated direct-axis current value. The device for determining the motor running information provided by the embodiment of the invention realizes the purpose of establishing a self-adaptive law to estimate the motor rotating speed through the difference value between the direct-axis currents, achieves the technical effect of improving and reducing the cost of obtaining the motor running information, and further solves the technical problem that in the vector control of the permanent magnet synchronous motor in the related art, the cost is increased by arranging a speed sensor to detect the position and the speed of a rotor.
In an alternative embodiment, the first obtaining unit includes: the acquisition module is used for acquiring phase current in the running process of the permanent magnet synchronous motor; and the conversion module is used for converting the phase current to obtain an actual straight-axis current value corresponding to the phase current.
In an optional embodiment, the determining means of the motor operation information further includes: the first construction unit is used for constructing a reference model based on an actual direct axis current value after the actual direct axis current value in the running process of the permanent magnet synchronous motor is obtained, wherein a correlation equation corresponding to the reference model is as follows:
udrepresenting the value of the direct-axis voltage, idRepresenting the actual direct axis current value, RsRepresents the stator resistance value, LdRepresenting the direct-axis inductance, LgRepresents the quadrature inductance and ω represents the actual rotational speed of the rotor.
In an optional embodiment, the determining means of the motor operation information further includes: the second construction unit is used for constructing an adjustable model based on the estimated straight-axis current value after acquiring the estimated straight-axis current value in the running process of the permanent magnet synchronous motor, wherein the corresponding correlation equation of the adjustable model is as follows:
usdwhich represents the direct-axis modulation voltage,
which represents the estimated direct-axis current,
indicating the estimated cross-axis current value,
representing the estimated rotational speed value of the rotor.
In an optional embodiment, the determining means of the motor operation information further includes: and the adjusting unit is used for adjusting the adjustable model in a self-adaptive mode after the adjustable model is built based on the estimated straight-axis current value until the difference value between the actual straight-axis current value and the estimated straight-axis current value is smaller than a preset threshold value.
Example 3
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored computer program, wherein when the computer program is executed by a processor, the apparatus where the computer storage medium is located is controlled to execute the method for determining the motor operation information in any one of the above.
Example 4
According to another aspect of the embodiment of the present invention, there is further provided a processor, configured to execute a computer program, where the computer program executes the method for determining the motor operation information in any one of the above aspects.
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 (10)
1. A method of determining motor operation information, comprising:
acquiring an actual straight shaft current value in the running process of the permanent magnet synchronous motor;
acquiring a pre-estimated direct-axis current value of the permanent magnet synchronous motor in the running process;
and determining the operation information of the rotor in the permanent magnet synchronous motor according to the difference value of the actual direct-axis current value and the estimated direct-axis current value.
2. The method of claim 1, wherein obtaining the actual direct-axis current value during the operation of the permanent magnet synchronous motor comprises:
obtaining phase current in the running process of the permanent magnet synchronous motor;
and converting the phase current to obtain an actual straight-axis current value corresponding to the phase current.
3. The method of claim 2, wherein after obtaining the actual direct-axis current value during the operation of the permanent magnet synchronous motor, the method further comprises:
constructing a reference model based on the actual direct-axis current value, wherein a correlation equation corresponding to the reference model is as follows:
udrepresenting the value of the direct-axis voltage, idRepresenting said actual direct axis current value, RsRepresents the stator resistance value, LdRepresenting the direct-axis inductance, LqRepresents the quadrature inductance and ω represents the actual rotational speed of the rotor.
4. The method of claim 3, wherein after obtaining the estimated direct axis current value during operation of the permanent magnet synchronous motor, further comprising:
constructing an adjustable model based on the estimated straight-axis current value, wherein the corresponding correlation equation of the adjustable model is as follows:
usdwhich represents the direct-axis modulation voltage,
which represents the estimated direct-axis current,
indicating the estimated cross-axis current value,
and representing the estimated rotating speed value of the rotor.
5. The method of claim 4, further comprising, after constructing the tunable model based on the estimated direct axis current values:
and adjusting the adjustable model in a self-adaptive mode until the difference value between the actual straight-axis current value and the estimated straight-axis current value is smaller than a preset threshold value.
6. An apparatus for determining motor operation information, comprising:
the first acquisition unit is used for acquiring the actual direct axis current value of the permanent magnet synchronous motor in the operation process;
the second acquisition unit is used for acquiring the estimated direct axis current value of the permanent magnet synchronous motor in the operation process;
and the determining unit is used for determining the operation information of the rotor in the permanent magnet synchronous motor according to the difference value of the actual direct-axis current value and the estimated direct-axis current value.
7. The apparatus of claim 6, wherein the first obtaining unit comprises:
the acquisition module is used for acquiring phase current in the running process of the permanent magnet synchronous motor;
and the conversion module is used for converting the phase current to obtain an actual straight-axis current value corresponding to the phase current.
8. The apparatus of claim 7, further comprising:
the first construction unit is used for constructing a reference model based on an actual direct-axis current value after the actual direct-axis current value in the running process of the permanent magnet synchronous motor is obtained, wherein a correlation equation corresponding to the reference model is as follows:
udrepresenting the value of the direct-axis voltage, idRepresenting said actual direct axis current value, RsThe value of the resistance of the stator is represented,drepresenting the direct-axis inductance, LqRepresents the quadrature inductance and ω represents the actual rotational speed of the rotor.
9. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed by a processor, controls an apparatus in which the computer storage medium is located to perform the method for determining motor operation information according to any one of claims 1 to 5.
10. A processor, characterized in that the processor is configured to run a computer program, wherein the computer program is configured to execute the method for determining motor operation information according to any one of claims 1 to 5 when running.
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