CN112234880B - MTPA control method, device, equipment and storage medium for permanent magnet synchronous motor - Google Patents

MTPA control method, device, equipment and storage medium for permanent magnet synchronous motor Download PDF

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CN112234880B
CN112234880B CN202011214764.2A CN202011214764A CN112234880B CN 112234880 B CN112234880 B CN 112234880B CN 202011214764 A CN202011214764 A CN 202011214764A CN 112234880 B CN112234880 B CN 112234880B
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stator current
moment
vector angle
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disturbance
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CN112234880A (en
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高剑
李承栩
周旺
黄守道
向芷漫
刘锟
戴理韬
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Hunan University
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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
    • H02P6/28—Arrangements for controlling current
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P21/28—Stator flux based control
    • 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
    • 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
    • H02P6/34—Modelling or simulation for control purposes
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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Abstract

The invention provides a permanent magnet synchronous motor MTPA control method, which comprises the following steps: acquiring the motor efficiency and the stator current vector angle in real time according to a pre-constructed mathematical model of the permanent magnet synchronous motor; the motor efficiency is obtained according to a motor torque constant variable; determining a disturbance direction and a disturbance amount according to the motor efficiency change and the stator current vector angle change at the current moment compared with the previous moment; and determining the optimal vector angle of the stator current at the next moment according to the disturbance direction, the disturbance quantity and the stator current vector angle at the current moment, thereby determining the current correction strategy. The problem of poor fixed step length precision in a search method is solved, and the control method is simple in structure and convenient to implement. In addition, the invention also provides a permanent magnet synchronous motor MTPA control device, computer equipment and a computer readable storage medium.

Description

MTPA control method, device, equipment and storage medium for permanent magnet synchronous motor
Technical Field
The invention relates to the technical field of permanent magnet synchronous motor control, in particular to a method, a device, equipment and a storage medium for controlling a permanent magnet synchronous Motor (MTPA).
Background
The Interior Permanent Magnet Synchronous Motor (IPMSM) has the advantages of small volume, high efficiency, high power density and the like, is widely applied to the field of new energy electric automobiles, and occupies a very important position. The IPMSM efficiency is improved, the loss is reduced, the control effect with excellent performance is obtained, and the research on the control method of the servo system is necessary.
When the permanent magnet synchronous motor works below the basic speed, the proportion of loss generated by current on the stator resistor is large. If the loss is to be reduced, the stator current of the motor needs to be reduced on the premise that the loading capacity of the motor is not changed. The maximum torque current ratio control (MTPA) minimizes the stator current without changing the output electromagnetic torque, so the MTPA control can reduce the copper loss, thereby achieving higher operating efficiency.
The existing MTPA control is mainly divided into two types, one is a control method based on motor model parameters, such as a direct formula method, a table look-up method, a curve fitting method, a parameter identification method and the like, but the above method depends on constant motor parameters, and when an external environment changes (such as temperature rise or decrease, magnetic saturation and the like), parameters (such as inductance, permanent magnet flux linkage, stator resistance and the like) of a motor in actual operation inevitably change, so that the MTPA control depending on the motor parameters deviates from an optimal point, and an expected effect cannot be achieved.
Another is a control method not based on the motor model parameters, such as a high frequency signal injection method and a search method. For the high-frequency signal injection method, generally, a high-frequency current or voltage signal with small amplitude is injected into a vector control system, then a torque response is extracted through a signal processor, and an optimal vector angle is tracked through MTPA trajectory characteristics. For the search method, the search is mostly carried out by fixed step length, but the search speed is very slow, and some methods are combined with Fourier analysis or other MTPA control methods, but the defects of the corresponding new combination method are introduced.
Therefore, a method, an apparatus, a device and a storage medium for controlling a permanent magnet synchronous motor MTPA are needed.
Disclosure of Invention
Technical problem to be solved
In view of the problems in the art described above, the present invention is at least partially addressed. Therefore, one purpose of the invention is to provide a method for controlling a permanent magnet synchronous Motor (MTPA), which solves the problem of poor fixed step length precision in a search method, and has a simple structure and is convenient to implement.
The second purpose of the invention is to provide a permanent magnet synchronous motor MTPA control device.
A third object of the invention is to propose a computer device.
A fourth object of the invention is to propose a computer-readable storage medium.
(II) technical scheme
In order to achieve the above object, an aspect of the present invention provides a method for controlling an MTPA of a permanent magnet synchronous motor, including the following steps:
acquiring the motor efficiency and the stator current vector angle in real time according to a pre-constructed mathematical model of the permanent magnet synchronous motor; the motor efficiency is obtained according to a motor torque constant variable;
determining a disturbance direction and a disturbance amount according to the motor efficiency change and the stator current vector angle change at the current moment compared with the previous moment;
and determining the optimal vector angle of the stator current at the next moment according to the disturbance direction, the disturbance quantity and the stator current vector angle at the current moment, thereby determining the current correction strategy.
The invention provides a permanent magnet synchronous motor MTPA control method, which acquires motor efficiency and a stator current vector angle in real time according to a pre-constructed mathematical model of the permanent magnet synchronous motor, wherein the motor efficiency is acquired according to a motor torque constant variable, then determines a disturbance direction and a disturbance amount according to the motor efficiency change and the stator current vector angle change of the current time compared with the previous time, and then determines the optimal stator current vector angle of the next time according to the disturbance direction, the disturbance amount and the stator current vector angle of the current time, thereby determining a current correction strategy. Therefore, the invention carries out MTPA control based on the search method of efficiency observation, takes the efficiency as an observation object, carries out disturbance judgment by comparing the motor efficiency and the motor vector angle before and after, increases or decreases the disturbance to find out the stator current optimal vector angle at the next moment according to the current vector angle at the current moment, thereby determining the current correction strategy, leading the disturbance step length to be self-adaptive to the system change, changing the step length along with the current running state of the system, solving the problem of poor precision of the fixed step length, and leading the disturbance observation method to have simple structure and convenient realization.
Optionally, obtaining the motor efficiency according to a pre-constructed mathematical model of the permanent magnet synchronous motor includes: obtaining a stator current vector and an electromagnetic torque according to a pre-constructed mathematical model of the permanent magnet synchronous motor; obtaining the motor efficiency according to the stator current vector and the electromagnetic torque;
η(k)＝Te(k)/is(k)
where η (k) is the motor efficiency at time k, Te (k) is the electromagnetic torque at time k, is(k) The stator current vector at time k.
Optionally, determining the disturbance direction according to the change of the motor efficiency and the change of the stator current vector angle at the current time compared with the previous time comprises:
when the change of the motor efficiency of the current moment compared with the last moment is larger than zero, if the change of the stator current vector angle of the current moment compared with the last moment is larger than zero, the disturbance direction is positive, otherwise, the disturbance direction is negative;
and when the change of the motor efficiency at the current moment compared with the last moment is smaller than zero, if the change of the stator current vector angle at the current moment compared with the last moment is larger than zero, the disturbance direction is positive, otherwise, the disturbance direction is negative.
Optionally, determining the disturbance amount according to the change of the motor efficiency and the change of the stator current vector angle at the current moment compared with the previous moment comprises:
Figure BDA0002759992410000031
Δ(Te/is)＝Te(k)/is(k)-Te(k-1)/is(k-1)
Δβ＝β(k)-β(k-1)
wherein, Delta betarefFor the disturbance quantity, M is a predetermined value, Delta (T)e/is) The change of the motor efficiency is shown, and delta beta is the change of the stator current vector angle; t ise(k) Electromagnetic torque at time k, is(k) Stator current vector at time k, Te(k-1) electromagnetic torque at time k-1, is(k-1) is the stator current vector at time k-1; β (k) is the stator current vector angle at time k, and β (k-1) is the stator current vector angle at time k-1.
Optionally, determining an optimal vector angle of the stator current at the next moment according to the disturbance direction, the disturbance amount, and the stator current vector angle at the current moment, includes:
β(k+1)＝β(k)+f(k)·Δβref
where β (k +1) is the stator current vector angle at time k +1, f (k) is the perturbation direction at time k, and f (k) is 1 or-1.
Optionally, the permanent magnet synchronous motor is an interior permanent magnet synchronous motor.
In order to achieve the above object, another aspect of the present invention provides a MTPA control apparatus for a permanent magnet synchronous motor, including:
the acquisition module is used for acquiring the motor efficiency and the stator current vector angle in real time according to a pre-constructed mathematical model of the permanent magnet synchronous motor; wherein the motor efficiency is obtained according to a motor torque constant variable;
the disturbance determining module is used for determining a disturbance direction and a disturbance amount according to the change of the motor efficiency and the change of the stator current vector angle at the previous moment compared with the current moment;
and the correction determining module is used for determining the optimal vector angle of the stator current at the next moment according to the disturbance direction, the disturbance quantity and the stator current vector angle at the current moment, so that a current correction strategy is determined.
The invention provides a permanent magnet synchronous motor MTPA control device, which acquires motor efficiency and a stator current vector angle in real time through an acquisition module according to a pre-constructed mathematical model of a permanent magnet synchronous motor, determines a disturbance direction and a disturbance amount through a disturbance determination module according to the change of the motor efficiency and the change of the stator current vector angle of the current moment compared with the previous moment, and determines the optimal stator current vector angle of the next moment through a correction determination module according to the disturbance direction, the disturbance amount and the stator current vector angle of the current moment, thereby determining a current correction strategy. Therefore, the invention carries out MTPA control based on the search method of efficiency observation, takes the efficiency as an observation object, carries out disturbance judgment by comparing the motor efficiency and the motor vector angle before and after, increases or decreases the disturbance to find out the stator current optimal vector angle at the next moment according to the current vector angle at the current moment, thereby determining the current correction strategy, leading the disturbance step length to be self-adaptive to the system change, changing the step length along with the current running state of the system, solving the problem of poor precision of the fixed step length, and leading the disturbance observation method to have simple structure and convenient realization.
In addition, the invention also provides computer equipment which comprises a memory, a processor and a permanent magnet synchronous motor MTPA control program which is stored on the memory and can run on the processor, wherein when the processor executes the permanent magnet synchronous motor MTPA control program, the permanent magnet synchronous motor MTPA control method is realized.
Furthermore, the present invention also provides a computer-readable storage medium having stored thereon a permanent magnet synchronous motor MTPA control program that, when executed by a processor, implements the permanent magnet synchronous motor MTPA control method as described above.
(III) advantageous effects
The invention has the beneficial effects that:
1. the method and the device for controlling the MTPA of the permanent magnet synchronous motor provided by the invention are completely independent of motor parameters, and when the IPMSM parameters are changed due to the change of the external environment, the method for controlling the MTPA of the permanent magnet synchronous motor can still search out the optimal stator current vector angle.
2. The invention provides a method and a device for controlling a permanent magnet synchronous Motor (MTPA), which are used for MTPA control based on a search method of efficiency observation, take efficiency as an observation object, make disturbance judgment by comparing the motor efficiency and the motor vector angle before and after, increase or decrease disturbance to the current vector angle at the current moment so as to find out the optimal stator current vector angle at the next moment, thereby determining a current correction strategy, enabling the disturbance step size to be adaptive to the system change, changing the step size along with the current running state of the system, solving the problem of poor precision of the fixed step size, and the disturbance observation method has a simple structure and is convenient to realize.
Drawings
The invention is described with the aid of the following figures:
fig. 1 is a flowchart of a method of controlling a permanent magnet synchronous motor MTPA according to an embodiment of the present invention;
fig. 2 is a block diagram of a MTPA control apparatus of a permanent magnet synchronous motor according to an embodiment of the present invention.
[ description of reference ]
1: an acquisition module;
2: a disturbance determination module;
3: and a correction determining module.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
A stock recommendation method and a stock recommendation apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is a flowchart illustrating a method for controlling an MTPA of a permanent magnet synchronous motor according to an embodiment of the present invention.
As shown in fig. 1, the MTPA control method for the permanent magnet synchronous motor includes the following steps:
step 101, acquiring motor efficiency and a stator current vector angle in real time according to a pre-constructed mathematical model of the permanent magnet synchronous motor; the motor efficiency is obtained from a motor torque constant variable.
The motor torque constant variables comprise stator current vectors and electromagnetic torques.
Specifically, as an example, obtaining the motor efficiency and the stator current vector angle according to a pre-constructed mathematical model of the permanent magnet synchronous motor includes: obtaining d-axis stator current i according to a pre-constructed mathematical model of the permanent magnet synchronous motor under the dq synchronous rotation coordinate systemdQ-axis stator current iqAnd an electromagnetic torque Te; according to d-axis stator current idQ-axis stator current iqAnd electromagnetic torque Te, and obtaining stator current vector i by combining MTPA characteristicssAnd stator current vector angle β; and obtaining the motor efficiency according to the stator current vector and the electromagnetic torque.
η(k)＝Te(k)/is(k)
Where η (k) is the motor efficiency at time k, Te (k) is the electromagnetic torque at time k, is(k) The stator current vector at time k.
And 102, determining a disturbance direction and a disturbance amount according to the motor efficiency change and the stator current vector angle change at the previous moment compared with the current moment.
Specifically, as an embodiment, determining a disturbance direction according to a change in motor efficiency and a change in stator current vector angle at a current time compared to a previous time includes:
when the change of the motor efficiency of the current time compared with the last time is larger than zero, if the change of the stator current vector angle of the current time compared with the last time is larger than zero, the disturbance direction is positive, namely f (k) is 1, otherwise, the disturbance direction is negative, namely f (k) is-1; when the change of the motor efficiency of the current time compared with the last time is less than zero, if the change of the stator current vector angle of the current time compared with the last time is more than zero, the perturbation direction is positive, namely f (k) is 1, otherwise, the perturbation direction is negative, namely f (k) is-1.
Specifically, as an embodiment, determining the disturbance amount according to the change of the motor efficiency and the change of the stator current vector angle at the current time compared with the previous time comprises:
Figure BDA0002759992410000071
Δ(Te/is)＝Te(k)/is(k)-Te(k-1)/is(k-1)
Δβ＝β(k)-β(k-1)
wherein, Delta betarefFor the disturbance, M is a predetermined value, Δ (T)e/is) The change of the motor efficiency is shown, and delta beta is the change of the stator current vector angle; t ise(k) Electromagnetic torque at time k, is(k) Stator current vector at time k, Te(k-1) an electromagnetic torque at a time k-1, is(k-1) is the stator current vector at time k-1; β (k) is the stator current vector angle at time k, and β (k-1) is the stator current vector angle at time k-1.
And 103, determining the optimal vector angle of the stator current at the next moment according to the disturbance direction, the disturbance quantity and the stator current vector angle at the current moment, so as to determine a current angle correction strategy.
Specifically, as an embodiment, determining an optimal vector angle of the stator current at the next time according to the disturbance direction, the disturbance amount and the stator current vector angle at the current time includes:
β(k+1)＝β(k)+f(k)·Δβref
where β (k +1) is the stator current vector angle at time k +1, f (k) is the perturbation direction at time k, and f (k) is 1 or-1. Therefore, when the distance from the maximum efficiency is far, the step length is larger, the disturbance step length is smaller when the distance is closer to the maximum efficiency, fine tuning is realized, and the self-adaptive principle is embodied.
Preferably, the MTPA control method of the permanent magnet synchronous motor provided by the invention is used for the built-in permanent magnet synchronous motor.
In summary, the method for controlling the MTPA of the permanent magnet synchronous motor provided by the invention performs MTPA control based on a search method for efficiency observation, takes efficiency as an observation object, and makes disturbance judgment by comparing the motor efficiency before and after the motor efficiency with the motor vector angle, thereby increasing or decreasing disturbance of the current vector angle at the current moment to find out the optimal stator current vector angle at the next moment, so as to determine a current correction strategy, so that the disturbance step length is adaptive to system change, the step length is changed along with the current running state of the system, the problem of poor precision of the fixed step length is solved, and the disturbance observation method has a simple structure and is convenient to implement.
Fig. 2 is a block diagram of a MTPA control apparatus of a permanent magnet synchronous motor according to an embodiment of the present invention.
As shown in fig. 2, the MTPA control apparatus for a permanent magnet synchronous motor includes: the device comprises an acquisition module 1, a disturbance determination module 2 and a correction determination module 3.
The acquisition module 1 is used for acquiring the motor efficiency and the stator current vector angle in real time according to a pre-constructed mathematical model of the permanent magnet synchronous motor; wherein the motor efficiency is obtained according to a motor torque constant variable; the disturbance determining module 2 is used for determining a disturbance direction and a disturbance amount according to the change of the motor efficiency and the change of the stator current vector angle at the previous moment compared with the current moment; and the correction determining module 3 is used for determining the optimal vector angle of the stator current at the next moment according to the disturbance direction, the disturbance quantity and the stator current vector angle at the current moment, so as to determine a current correction strategy.
As an embodiment, the obtaining module 1 is specifically configured to obtain a stator current vector and an electromagnetic torque according to a pre-constructed mathematical model of a permanent magnet synchronous motor; obtaining the motor efficiency according to the stator current vector and the electromagnetic torque;
η(k)＝Te(k)/is(k)
where η (k) is the motor efficiency at time k, Te (k) is the electromagnetic torque at time k，is(k) The stator current vector at time k.
As an embodiment, the disturbance determining module 2 is specifically configured to determine that the disturbance direction is a positive direction if the change of the stator current vector angle at the current time compared with the previous time is greater than zero when the change of the motor efficiency at the current time compared with the previous time is greater than zero, and otherwise, determine that the disturbance direction is a negative direction; and when the change of the motor efficiency at the current moment compared with the last moment is smaller than zero, if the change of the stator current vector angle at the current moment compared with the last moment is larger than zero, determining that the disturbance direction is a positive direction, otherwise, determining that the disturbance direction is a negative direction.
As an embodiment, the disturbance determining module 2 is further specifically configured to determine the disturbance amount according to a change in the motor efficiency and a change in the stator current vector angle at a current time compared to a previous time, and includes:
Figure BDA0002759992410000091
Δ(Te/is)＝Te(k)/is(k)-Te(k-1)/is(k-1)
Δβ＝β(k)-β(k-1)
wherein, Delta betarefFor the disturbance, M is a predetermined value, Δ (T)e/is) The change of the motor efficiency is shown, and delta beta is the change of the stator current vector angle; t is a unit ofe(k) Electromagnetic torque at time k, is(k) Stator current vector at time k, Te(k-1) electromagnetic torque at time k-1, is(k-1) is the stator current vector at time k-1; β (k) is the stator current vector angle at time k, and β (k-1) is the stator current vector angle at time k-1.
As an embodiment, the modification determining module 3 is specifically configured to determine, according to the disturbance direction, the disturbance amount, and the stator current vector angle at the current time, an optimal stator current vector angle at the next time, including:
β(k+1)＝β(k)+f(k)·Δβref
where β (k +1) is the stator current vector angle at time k +1, f (k) is the perturbation direction at time k, and f (k) is 1 or-1.
In summary, the MTPA control device for the permanent magnet synchronous motor provided by the invention performs MTPA control based on a search method for efficiency observation, takes efficiency as an observation object, and makes disturbance judgment by comparing the motor efficiency before and after the motor efficiency with the motor vector angle, thereby increasing or decreasing disturbance to find the stator current optimal vector angle at the next moment, so as to determine a current correction strategy, so that the disturbance step size is adaptive to system change, the step size is changed along with the current running state of the system, the problem of poor precision of the fixed step size is solved, and the disturbance observation method is simple in structure and convenient to implement.
In addition, the embodiment of the invention also provides a computer device which comprises a memory, a processor and a stock recommendation program which is stored on the memory and can be run on the processor, and when the processor executes the stock recommendation program, the stock recommendation method is realized.
In addition, an embodiment of the present invention also provides a computer-readable storage medium on which a stock recommendation program is stored, which when executed by a processor implements the stock recommendation method as described above.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the terms first, second, third and the like are for convenience only and do not denote any order. These words are to be understood as part of the name of the component.
Furthermore, it should be noted that in the description of the present specification, the description of the term "one embodiment", "some embodiments", "examples", "specific examples" or "some examples", etc., means that a specific feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, the claims should be construed to include preferred embodiments and all such variations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention should also include such modifications and variations.

Claims (7)

1. A permanent magnet synchronous motor MTPA control method is characterized by comprising the following steps:
acquiring the motor efficiency and the stator current vector angle in real time according to a pre-constructed mathematical model of the permanent magnet synchronous motor; the motor efficiency is obtained according to a motor torque constant variable;
determining a disturbance direction and a disturbance amount according to the motor efficiency change and the stator current vector angle change at the current moment compared with the previous moment;
determining the optimal vector angle of the stator current at the next moment according to the disturbance direction, the disturbance quantity and the stator current vector angle at the current moment, thereby determining a current correction strategy; wherein, compare the change of the motor efficiency and the stator current vector angle change of last moment according to the present moment, confirm the disturbance direction, include: when the change of the motor efficiency of the current moment compared with the last moment is larger than zero, if the change of the stator current vector angle of the current moment compared with the last moment is larger than zero, the disturbance direction is positive, otherwise, the disturbance direction is negative; when the change of the motor efficiency at the current moment compared with the last moment is less than zero, if the change of the stator current vector angle at the current moment compared with the last moment is more than zero, the disturbance direction is positive, otherwise, the disturbance direction is negative; according to the change of the motor efficiency and the change of the stator current vector angle at the moment when the current moment is compared with the previous moment, the disturbance quantity is determined, and the method comprises the following steps:
Figure FDA0003528196340000011
Δ(Te/is)＝Te(k)/is(k)-Te(k-1)/is(k-1)
Δβ＝β(k)-β(k-1)
wherein, Delta betarefFor the disturbance, M is a predetermined value, Δ (T)e/is) The change of the motor efficiency is shown, and delta beta is the change of the stator current vector angle; t ise(k) Electromagnetic torque at time k, is(k) Stator current vector at time k, Te(k-1) electromagnetic torque at time k-1, is(k-1) is the stator current vector at time k-1; β (k) is the stator current vector angle at time k, and β (k-1) is the stator current vector angle at time k-1.
2. The method of claim 1, wherein obtaining the motor efficiency from a pre-constructed mathematical model of the permanent magnet synchronous motor comprises:
obtaining a stator current vector and an electromagnetic torque according to a pre-constructed mathematical model of the permanent magnet synchronous motor;
obtaining the motor efficiency according to the stator current vector and the electromagnetic torque;
η(k)＝Te(k)/is(k)
where η (k) is the motor efficiency at time k, Te (k) is the electromagnetic torque at time k, is(k) The stator current vector at time k.
3. The method of claim 1, wherein determining the optimal vector angle of the stator current at the next time instant according to the perturbation direction, the perturbation amount and the stator current vector angle at the current time instant comprises:
β(k+1)＝β(k)+f(k)·Δβref
where β (k +1) is the stator current vector angle at time k +1, f (k) is the perturbation direction at time k, and f (k) is 1 or-1.
4. A method according to any of claims 1 to 3, wherein the permanent magnet synchronous machine is an interior permanent magnet synchronous machine.
5. A permanent magnet synchronous motor MTPA control device is characterized by comprising:
the acquisition module is used for acquiring the motor efficiency and the stator current vector angle in real time according to a pre-constructed mathematical model of the permanent magnet synchronous motor; the motor efficiency is obtained according to a motor torque constant variable;
the disturbance determining module is used for determining a disturbance direction and a disturbance amount according to the change of the motor efficiency and the change of the stator current vector angle at the previous moment compared with the current moment;
the correction determining module is used for determining the optimal vector angle of the stator current at the next moment according to the disturbance direction, the disturbance quantity and the stator current vector angle at the current moment, so that a current correction strategy is determined; wherein, compare the change of the motor efficiency and the stator current vector angle change of last moment according to the present moment, confirm the disturbance direction, include: when the change of the motor efficiency of the current moment compared with the last moment is larger than zero, if the change of the stator current vector angle of the current moment compared with the last moment is larger than zero, the disturbance direction is positive, otherwise, the disturbance direction is negative; when the change of the motor efficiency at the current moment compared with the last moment is less than zero, if the change of the stator current vector angle at the current moment compared with the last moment is more than zero, the disturbance direction is positive, otherwise, the disturbance direction is negative; according to the change of the motor efficiency and the change of the stator current vector angle at the moment when the current moment is compared with the previous moment, the disturbance quantity is determined, and the method comprises the following steps:
Figure FDA0003528196340000021
Δ(Te/is)＝Te(k)/is(k)-Te(k-1)/is(k-1)
Δβ＝β(k)-β(k-1)
wherein, Delta betarefFor the disturbance, M is a predetermined value, Δ (T)e/is) The change of the motor efficiency is shown, and delta beta is the change of the stator current vector angle; t ise(k) Electromagnetic torque at time k, is(k) Stator current vector at time k, Te(k-1) electromagnetic torque at time k-1, is(k-1) is the stator current vector at time k-1; β (k) is the stator current vector angle at time k, and β (k-1) is the stator current vector angle at time k-1.
6. A computer device, comprising a memory, a processor and a MTPA control program stored in the memory and executable on the processor, wherein the processor executes the MTPA control program to implement the MTPA control method according to any one of claims 1 to 4.
7. A computer-readable storage medium, on which a permanent magnet synchronous motor MTPA control program is stored, which when executed by a processor implements the permanent magnet synchronous motor MTPA control method according to any one of claims 1 to 4.
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