CN112671284A - Permanent magnet synchronous motor, control method, controller and storage medium - Google Patents
Permanent magnet synchronous motor, control method, controller and storage medium Download PDFInfo
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Abstract
The invention belongs to the technical field of motor control, and discloses a permanent magnet synchronous motor, a control method, a controller and a storage medium, wherein the two-phase rotating current value and the two-phase rotating voltage value of the permanent magnet synchronous motor are obtained by converting the actual value of the three-phase current and the actual value of the bus voltage of the permanent magnet synchronous motor; reconstructing and estimating the flux linkage through an observer to obtain a flux linkage estimation value, and obtaining an estimation value of the rotating speed according to the self-adaptive rate; calculating to obtain an estimated value of the torque according to a motor torque equation; and the controller controls the permanent magnet synchronous motor according to the feedback estimated value of the rotating speed and the feedback estimated value of the torque. According to the method, a flux linkage estimation value is obtained through a state observer, a torque estimation value is further obtained through calculation, and torque closed-loop control is performed; a rotating speed estimated value is obtained through a rotating speed self-adaptive rate, rotating speed closed-loop control is realized, and speed sensor-free control is realized; and stable control of the motor is realized.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a permanent magnet synchronous motor, a control method, a controller and a storage medium.
Background
At present, the permanent magnet synchronous motor has the advantages of simple structure, high efficiency, high power factor and excellent speed regulation performance, and is widely applied to the fields of air conditioners, locomotives and the like. The mechanical sensor is easily influenced by the external environment to cause the reduction of speed measuring performance, further cause the reduction of the reliability of a motor system, and finally influence the high-precision control of the motor. Therefore, the control method without the speed sensor is widely concerned, the cost of the control system of the motor is saved, and the influence of the external environment on the measurement of the rotating speed of the motor is reduced.
Patent No. CN201910878418.5 provides a control method for a permanent magnet synchronous motor without a position sensor based on an adaptive sliding mode observer, which designs an adaptive sliding mode observer, designs a back emf adaptive estimation link, and estimates the rotor position and the rotation speed by using a phase-locked loop technique, but this method designs an observer based on a two-phase stationary coordinate system and has no torque control.
Patent No. CN201810342250.1 provides a sensorless control method based on a rotating speed adaptive sliding mode observer, which obtains an extended back electromotive force in a two-phase stationary coordinate system based on the two-phase stationary coordinate system, constructs a position observer based on an extended back electromotive force equivalent control quantity, and designs a rotating speed adaptive observation rate for speed feedback, but this method is based on a two-phase forbidden coordinate system and has no torque control.
Through the above analysis, the problems and defects of the prior art are as follows: the existing permanent magnet motor control method cannot realize a three-closed-loop control system of rotating speed, torque and current, and cannot perform flux linkage early warning at the same time. The stable control effect of the motor is poor.
Disclosure of Invention
The invention provides a permanent magnet synchronous motor, a control method, a controller and a storage medium, aiming at the problems in the prior art.
The implementation mode of the invention is that a control method of a permanent magnet synchronous motor comprises the following steps:
obtaining the actual value of the three-phase current and the actual value of the bus voltage of the permanent magnet synchronous motor through the sampling resistor and the chip;
converting the actual value of the three-phase current of the permanent magnet synchronous motor and the actual value of the bus voltage to obtain a two-phase rotating current value and a two-phase rotating voltage value of the permanent magnet synchronous motor;
reconstructing and estimating the flux linkage through an observer based on the obtained two-phase rotating current value and two-phase rotating voltage value of the permanent magnet synchronous motor to obtain a flux linkage estimated value, and obtaining an estimated value of the rotating speed according to the self-adaptive rate; calculating to obtain an estimated value of the torque according to a motor torque equation;
the observer feeds back the obtained estimated value of the rotating speed and the estimated value of the torque; and the controller controls the permanent magnet synchronous motor according to the feedback estimated value of the rotating speed and the feedback estimated value of the torque.
Further, the observer is a permanent magnet synchronous motor non-speed sensor combining a self-adaptive nonsingular fast terminal sliding mode observer and a Luenberger observer.
Further, an estimated value of the motor position angle is obtained according to the estimated value of the rotating speed.
Further, in the flux linkage estimation value obtained by reconstructing and estimating the flux linkage, whether the motor is demagnetized or not is judged by estimating the flux linkage value, and the motor demagnetization condition is early warned; the method specifically comprises the following steps:
comparing the obtained estimated flux linkage value with a flux linkage rated value, and judging whether the flux linkage is normal or not; if the flux linkage is normal, the motor is normally controlled, and the motor is controlled to normally run; and if the flux linkage is demagnetized, warning is carried out, and the motor runs in a fault state.
Further, the control method of the permanent magnet synchronous motor specifically comprises the following steps:
step one, obtaining a three-phase current actual value i of the permanent magnet synchronous motor through a sampling resistor and a chipa、ib、icAnd the actual value U of the bus voltagedc；
Step two, three-phase current i of the permanent magnet synchronous motora、ib、icObtaining two-phase rotating current i of permanent magnet synchronous motor through PARK and CLARK conversiond、iq；
Thirdly, passing the bus voltage U of the permanent magnet synchronous motordcObtain voltage u of two-phase rotationd、uq；
Step four, the two-phase current value i is obtained through the rotation of the permanent magnet synchronous motord、iqVoltage value ud、uqAnd related motor parameters, obtaining flux linkage estimation values according to an observer, and obtaining rotation speed estimation values according to the self-adaptive rate
Step five, calculating to obtain an estimated value of the torque according to a motor torque equation
According to the estimated value of the rotation speed
Obtaining an estimate of the position angle
Sixthly, estimating a feedback value according to the rotating speed of the permanent magnet synchronous motor
Estimated feedback value of torque
And controlling the permanent magnet synchronous motor.
Further, in the fourth step, a two-phase current value i is generated by the rotation of the permanent magnet synchronous motord、iqVoltage value ud、uqAnd related motor parameters, and the method for obtaining the flux linkage estimation value according to the observer comprises the following steps:
wherein the content of the first and second substances,
wherein R is stator resistance, LdIs a direct axis inductor, LqIs a quadrature axis inductance,. psirdIs a direct axis flux linkage component, psirqIs quadrature axis flux linkage component;
the permanent magnet synchronous motor observer includes:
wherein L is a matrix to be designed,
the control input quantity of the nonsingular fast terminal sliding mode observer is obtained;
the permanent magnet synchronous motor observer further comprises:
constructing a Lyapunov function:
Further, in the fifth step, an estimated torque equation of the permanent magnet synchronous motor is as follows:
wherein n ispThe number of the pole pairs is the number of the pole pairs,
is a flux linkage estimation value;
the sixth step specifically comprises:
(1) setting the rotating speed of the permanent magnet synchronous motor
And the estimated feedback rotating speed of the permanent magnet synchronous motor
iPI adjustment control is carried out to obtain the set value of the torque
Setting the torque of permanent magnet synchronous motor
With estimated PMSM feedback torque
iPI adjustment control is carried out on the difference value to obtain a given value of quadrature axis current
And calculating the direct axis electricity through the maximum torque current ratioFlow set point
(2) Setting the quadrature axis current of the permanent magnet synchronous motor
Quadrature axis current feedback value i of permanent magnet synchronous motorqiPI adjustment control is carried out to obtain a given quadrature axis voltage uq(ii) a Setting the direct axis current of the permanent magnet synchronous motor
Quadrature axis current feedback value i of permanent magnet synchronous motordiPI adjustment control is carried out to obtain a given direct axis voltage ud；
(3) Setting the quadrature axis voltage u of the permanent magnet synchronous motorqWith given value u of voltage on the straight axisdObtaining a two-phase stationary voltage u by IPARK conversionα、uβ(ii) a By means of a two-phase rest voltage uα、uβAnd performing space voltage vector pulse width modulation to generate SVPWM (space vector pulse width modulation) waves, controlling the switching-on and switching-off of a switching tube of the inverter circuit, and controlling the permanent magnet synchronous motor.
Another object of the present invention is to provide a permanent magnet synchronous motor controller that implements the control method of the permanent magnet synchronous motor.
Another object of the present invention is to provide a permanent magnet synchronous motor having a permanent magnet synchronous motor controller mounted thereon.
It is another object of the present invention to provide a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
obtaining the actual value of the three-phase current and the actual value of the bus voltage of the permanent magnet synchronous motor through the sampling resistor and the chip;
converting the actual value of the three-phase current of the permanent magnet synchronous motor and the actual value of the bus voltage to obtain a two-phase rotating current value and a two-phase rotating voltage value of the permanent magnet synchronous motor;
reconstructing and estimating the flux linkage through an observer based on the obtained two-phase rotating current value and two-phase rotating voltage value of the permanent magnet synchronous motor to obtain a flux linkage estimated value, and obtaining an estimated value of the rotating speed according to the self-adaptive rate; calculating to obtain an estimated value of the torque according to a motor torque equation;
the observer feeds back the obtained estimated value of the rotating speed and the estimated value of the torque; and the controller controls the permanent magnet synchronous motor according to the feedback estimated value of the rotating speed and the feedback estimated value of the torque.
By combining all the technical schemes, the invention has the advantages and positive effects that: according to the method, a flux linkage estimation value is obtained through the state observer, a torque estimation value is further obtained through calculation, and torque closed-loop control is carried out; a rotating speed estimated value is obtained through a rotating speed self-adaptive rate, rotating speed closed-loop control is realized, and speed sensor-free control is realized; the final effect is to realize the stable control of the motor through a three-closed-loop control system of the rotating speed, the torque and the current.
By adopting the control method and the system for the permanent magnet synchronous motor speed sensorless, which are combined by the self-adaptive nonsingular fast terminal sliding-mode observer and the Luenberger observer, the cost required by speed measurement and the influence of the external environment on the speed measurement can be reduced. The rotating speed, the torque and the current of the permanent magnet synchronous motor are all controlled by an iPI controller, so that three closed-loop control is formed, and the control performance of the motor control system can be improved. And estimating the flux linkage by using an observer to know whether the flux linkage is demagnetized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained from the drawings without creative efforts.
Fig. 1 is a schematic diagram of a control method of a permanent magnet synchronous motor according to an embodiment of the present invention.
Fig. 2 is a flow chart of the control of the motor according to the embodiment of the present invention.
Fig. 3 is a flow chart of flux linkage warning provided by the embodiment of the present invention.
Fig. 4 is a flowchart of a control method of a permanent magnet synchronous motor according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In view of the problems in the prior art, the present invention provides a method and a system for controlling a permanent magnet synchronous motor, and a motor, and the present invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to fig. 2, a control method of a permanent magnet synchronous motor according to an embodiment of the present invention includes:
obtaining the actual value of the three-phase current and the actual value of the bus voltage of the permanent magnet synchronous motor through the sampling resistor and the chip;
converting the actual value of the three-phase current of the permanent magnet synchronous motor and the actual value of the bus voltage to obtain a two-phase rotating current value and a two-phase rotating voltage value of the permanent magnet synchronous motor;
reconstructing and estimating the flux linkage through an observer based on the obtained two-phase rotating current value and two-phase rotating voltage value of the permanent magnet synchronous motor to obtain a flux linkage estimated value, and obtaining an estimated value of the rotating speed according to the self-adaptive rate; calculating to obtain an estimated value of the torque according to a motor torque equation;
the observer feeds back the obtained estimated value of the rotating speed and the estimated value of the torque; and the controller controls the permanent magnet synchronous motor according to the feedback estimated value of the rotating speed and the feedback estimated value of the torque.
In the invention, the observer is a permanent magnet synchronous motor non-speed sensor which is a combination of a self-adaptive nonsingular fast terminal sliding mode observer and a Luenberger observer.
According to the invention, the estimated value of the motor position angle is obtained according to the estimated value of the rotating speed.
As shown in fig. 3, the determining whether the motor is demagnetized by estimating the value of the flux linkage, and performing the early warning on the motor demagnetization condition includes:
comparing the obtained estimated flux linkage value with a flux linkage rated value, and judging whether the flux linkage is normal or not; if the flux linkage is normal, the motor is normally controlled, and the motor is controlled to normally run; and if the flux linkage is demagnetized, warning is carried out, and the motor runs in a fault state.
As shown in fig. 4, a method for controlling a permanent magnet synchronous motor according to an embodiment of the present invention includes the following steps:
s101, obtaining a three-phase current actual value i of the permanent magnet synchronous motor through a sampling resistor and a chipa、ib、icAnd the actual value U of the bus voltagedc；
S102, three-phase current i of permanent magnet synchronous motora、ib、icObtaining two-phase rotating current i of permanent magnet synchronous motor through PARK and CLARK conversiond、iq；
S103, passing through the bus voltage U of the permanent magnet synchronous motordcObtain voltage u of two-phase rotationd、uq；
S104, obtaining a two-phase current value i through rotation of the permanent magnet synchronous motord、iqVoltage value ud、uqAnd related motor parameters, obtaining flux linkage estimation values according to an observer, and obtaining rotation speed estimation values according to the self-adaptive rate
S105, calculating to obtain an estimated value of the torque according to a motor torque equation
According to the estimated value of the rotation speed
Obtaining an estimate of the position angle
S106, estimating a feedback value according to the rotating speed of the permanent magnet synchronous motor
Estimated feedback value of torque
And controlling the permanent magnet synchronous motor.
In step S104 of the present invention, the current state equation of the permanent magnet synchronous motor in the two-phase rotating coordinate system considering the loss of field is as follows:
wherein the content of the first and second substances,
wherein R is stator resistance, LdIs a direct axis inductor, LqIs a quadrature axis inductance,. psirdIs a direct axis flux linkage component, psirqIs the quadrature flux linkage component.
In step S104 of the present invention, the equation of the observer of the permanent magnet synchronous motor is provided as follows:
wherein L is a matrix to be designed,
the method is the control input quantity of the nonsingular fast terminal sliding mode observer.
The permanent magnet synchronous motor observer further comprises:
the Lyapunov function was constructed as follows:
In step S105 of the present invention, the permanent magnet synchronous motor estimated torque equation is as follows:
wherein n ispThe number of the pole pairs is the number of the pole pairs,
is the flux linkage estimation value.
In step S106, the feedback value estimated according to the rotation speed of the pmsm according to the embodiment of the present invention
Estimated feedback value of torque
Performing control of a permanent magnet synchronous motor includes:
(1) setting the rotating speed of the permanent magnet synchronous motor
And the estimated feedback rotating speed of the permanent magnet synchronous motor
The difference value of (c) is subjected to iPI adjustment control,obtaining a given value of torque
Setting the torque of permanent magnet synchronous motor
With estimated PMSM feedback torque
iPI adjustment control is carried out on the difference value to obtain a given value of quadrature axis current
And calculating the given value of the direct-axis current according to the maximum torque current ratio
(2) Setting the quadrature axis current of the permanent magnet synchronous motor
Quadrature axis current feedback value i of permanent magnet synchronous motorqiPI adjustment control is carried out to obtain a given quadrature axis voltage uq(ii) a Setting the direct axis current of the permanent magnet synchronous motor
Quadrature axis current feedback value i of permanent magnet synchronous motordiPI adjustment control is carried out to obtain a given direct axis voltage ud；
(3) Setting the quadrature axis voltage u of the permanent magnet synchronous motorqWith given value u of voltage on the straight axisdObtaining a two-phase stationary voltage u by IPARK conversionα、uβ(ii) a By means of a two-phase rest voltage uα、uβAnd performing space voltage vector pulse width modulation to generate SVPWM (space vector pulse width modulation) waves, controlling the switching-on and switching-off of a switching tube of the inverter circuit, and controlling the permanent magnet synchronous motor.
The technical effects of the present invention will be further described with reference to specific embodiments.
Example 1:
according to a mathematical model under a two-phase rotating coordinate system of the motor, an observer combining a self-adaptive nonsingular fast terminal sliding mode observer and a Luenberger observer is derived, flux linkage is reconstructed and estimated, rotating speed is estimated through a rotating speed self-adaptive rate, torque and a position angle are further estimated, and meanwhile rotating speed, torque and current are controlled.
And judging whether the motor loses magnetism or not by estimating the value of the flux linkage, and early warning the motor loss magnetism.
Example 2:
the invention comprises a control method and a control system of a permanent magnet synchronous motor and the motor.
FIG. 1 illustrates: a PMSM system control block diagram, as shown in fig. 1.
The three-phase bridge inverter circuit outputs regular ABC three-phase voltage to control the permanent magnet synchronous motor.
Obtaining the three-phase current actual value i of the permanent magnet synchronous motor through the sampling resistor and the chipa、ib、icAnd the actual value U of the bus voltagedc。
The three-phase current of the permanent magnet synchronous motor is converted by PARK and CLARK to obtain two-phase rotating current i of the permanent magnet synchronous motord、iq。
Through the bus voltage U of the permanent magnet synchronous motordcObtain voltage u of two-phase rotationd、uq。
Current feedback value i through two-phase rotation of permanent magnet synchronous motord、iqVoltage value ud、uqAnd related motor parameters, and obtaining the estimated value of the motor rotating speed according to the state observer and the rotating speed self-adaptive rate
Further, an estimated value of the torque is obtained through calculation according to a motor torque equation
According to the estimated value of the rotation speed
Obtaining an estimate of the position angle
Setting the rotating speed of the permanent magnet synchronous motor
And the estimated feedback rotating speed of the permanent magnet synchronous motor
iPI adjustment control is carried out to obtain the set value of the torque
Setting the torque of permanent magnet synchronous motor
With estimated PMSM feedback torque
iPI adjustment control is carried out on the difference value to obtain a given value of quadrature axis current
And calculating the given value of the direct-axis current through the maximum torque current ratio (MTPA)
Setting the quadrature axis current of the permanent magnet synchronous motor
Quadrature axis current feedback value i of permanent magnet synchronous motorqiPI adjustment control is carried out to obtain a given quadrature axis voltage uq(ii) a Setting the direct axis current of the permanent magnet synchronous motor
Quadrature axis current feedback value i of permanent magnet synchronous motordiPI adjustment control is carried out to obtain a given direct axis voltage ud。
Setting the quadrature axis voltage u of the permanent magnet synchronous motorqWith given value u of voltage on the straight axisdObtaining a two-phase stationary voltage u by IPARK conversionα、uβ。
By means of a two-phase rest voltage uα、uβAnd performing space voltage vector pulse width modulation to generate an SVPWM (space vector pulse width modulation) wave, and controlling the switching on and off of a switching tube of the inverter circuit so as to control the permanent magnet synchronous motor.
The permanent magnet synchronous motor considers the current state equation under a two-phase rotating coordinate system of loss of field as follows:
wherein the content of the first and second substances,
r is stator resistance, LdIs a direct axis inductor, LqIs a quadrature axis inductance,. psirdIs a direct axis flux linkage component, psirqIs the quadrature flux linkage component.
The permanent magnet synchronous motor estimated torque equation is as follows:
wherein n ispThe number of the pole pairs is the number of the pole pairs,
is the flux linkage estimation value.
The observer equation of the permanent magnet synchronous motor is as follows:
wherein L is a matrix to be designed,
the method is the control input quantity of the nonsingular fast terminal sliding mode observer.
The Lyapunov function was constructed as follows:
The flux linkage can be estimated through the equivalent principle of the observer and the sliding mode, and the rotating speed is estimated according to the rotating speed self-adaptive rate
Further calculating a torque estimate
Is estimated from the position angle
And (6) estimating the value.
iPI in the invention refers to 'intelligent' PI, an intelligent PI controller, which can effectively improve the simplicity of debugging the controller.
In the present invention, fig. 2 is a motor control flow provided including:
1) by means of a sampling resistorAnd the chip obtains the actual value i of the three-phase current of the permanent magnet synchronous motora、ib、icAnd the actual value U of the bus voltagedc。
2) The three-phase current i of the permanent magnet synchronous motora、ib、icObtaining two-phase rotating current i of permanent magnet synchronous motor through PARK and CLARK conversiond、iq。
3) Passing through the bus voltage U of the permanent magnet synchronous motordcObtain voltage u of two-phase rotationd、uq。
4) Two-phase current value i generated by rotation of the permanent magnet synchronous motord、iqVoltage value ud、uqAnd related motor parameters, obtaining flux linkage estimation values according to an observer, and obtaining rotation speed estimation values according to the self-adaptive rate
5) Further, an estimated value of the torque is obtained by calculation
And an estimate of the position angle
6) Estimating a feedback value according to the rotation speed of the PMSM
Estimated feedback value of torque
And controlling the permanent magnet synchronous motor.
In the present invention, as shown in fig. 3, the method includes:
flux linkage estimation values can be obtained according to an observer.
And comparing the estimated value with a flux linkage rated value, and judging whether the flux linkage is normal or not.
If the flux linkage is normal, the control system is utilized to normally control the motor, and the motor normally runs.
And if the flux linkage is demagnetized, warning the system and operating the motor in a fault state.
Estimation of flux linkage
The rated value of flux linkage is obtained by performing correlation calculation by a state observer equation
The motor control method is determined by the factory parameters of the motor, and the two values are compared in a relevant program statement in the control program of the motor. If the estimated value of flux linkage is within a certain range above or below the nominal value of flux linkage (i.e. if the estimated value of flux linkage is within a certain range of the nominal value of flux linkage)
a is a set normal number), the flux linkage is judged to be normal, if the flux linkage is smaller than the range, the flux linkage is judged to be abnormal, and the motor is demagnetized.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A control method of a permanent magnet synchronous motor is characterized by comprising the following steps:
obtaining the actual value of the three-phase current and the actual value of the bus voltage of the permanent magnet synchronous motor through the sampling resistor and the chip;
converting the actual value of the three-phase current of the permanent magnet synchronous motor and the actual value of the bus voltage to obtain a two-phase rotating current value and a two-phase rotating voltage value of the permanent magnet synchronous motor;
reconstructing and estimating the flux linkage through an observer based on the obtained two-phase rotating current value and two-phase rotating voltage value of the permanent magnet synchronous motor to obtain a flux linkage estimated value, and obtaining an estimated value of the rotating speed according to the self-adaptive rate; calculating to obtain an estimated value of the torque according to a motor torque equation;
the observer feeds back the obtained estimated value of the rotating speed and the estimated value of the torque; and the controller controls the permanent magnet synchronous motor according to the feedback estimated value of the rotating speed and the feedback estimated value of the torque.
2. The control method of the permanent magnet synchronous motor according to claim 1, wherein the observer is a permanent magnet synchronous motor non-speed sensor combining an adaptive nonsingular fast terminal sliding mode observer and a lunberger observer.
3. The control method of a permanent magnet synchronous motor according to claim 1, wherein the estimated value of the motor position angle is obtained based on the estimated value of the rotation speed.
4. The control method of the permanent magnet synchronous motor according to claim 1, wherein in the flux linkage estimation value obtained by reconstructing and estimating the flux linkage, whether the motor is demagnetized is judged by estimating the flux linkage value, and the motor demagnetization condition is warned; the method specifically comprises the following steps:
comparing the obtained estimated flux linkage value with a flux linkage rated value, and judging whether the flux linkage is normal or not; if the flux linkage is normal, the motor is normally controlled, and the motor is controlled to normally run; and if the flux linkage is demagnetized, warning is carried out, and the motor runs in a fault state.
5. The method for controlling the permanent magnet synchronous motor according to claim 1, wherein the method for controlling the permanent magnet synchronous motor specifically comprises the following steps:
step one, obtaining a three-phase current actual value i of the permanent magnet synchronous motor through a sampling resistor and a chipa、ib、icAnd the actual value U of the bus voltagedc；
Step two, three-phase current of permanent magnet synchronous motoria、ib、icObtaining two-phase rotating current i of permanent magnet synchronous motor through PARK and CLARK conversiond、iq；
Thirdly, passing the bus voltage U of the permanent magnet synchronous motordcObtain voltage u of two-phase rotationd、uq；
Step four, the two-phase current value i is obtained through the rotation of the permanent magnet synchronous motord、iqVoltage value ud、uqAnd related motor parameters, obtaining flux linkage estimation values according to an observer, and obtaining rotation speed estimation values according to the self-adaptive rate
Step five, calculating to obtain an estimated value of the torque according to a motor torque equation
According to the estimated value of the rotation speed
Obtaining an estimate of the position angle
Sixthly, estimating a feedback value according to the rotating speed of the permanent magnet synchronous motor
Estimated feedback value of torque
And controlling the permanent magnet synchronous motor.
6. The method for controlling a permanent magnet synchronous motor according to claim 5, wherein in the fourth step, the two-phase current value i passing through the rotation of the permanent magnet synchronous motord、iqVoltage value ud、uqAnd related motor parameters, and the method for obtaining the flux linkage estimation value according to the observer comprises the following steps:
wherein the content of the first and second substances,
wherein R is stator resistance, LdIs a direct axis inductor, LqIs a quadrature axis inductance,. psirdIs a direct axis flux linkage component, psirqIs quadrature axis flux linkage component;
the permanent magnet synchronous motor observer includes:
wherein L is a matrix to be designed,
the control input quantity of the nonsingular fast terminal sliding mode observer is obtained;
the permanent magnet synchronous motor observer further comprises:
constructing a Lyapunov function:
7. The control method of the permanent magnet synchronous motor according to claim 5, wherein in the fifth step, the permanent magnet synchronous motor estimated torque equation is as follows:
wherein n ispThe number of the pole pairs is the number of the pole pairs,
is a flux linkage estimation value;
the sixth step specifically comprises:
(1) setting the rotating speed of the permanent magnet synchronous motor
And the estimated feedback rotating speed of the permanent magnet synchronous motor
iPI adjustment control is carried out to obtain the set value of the torque
Setting the torque of permanent magnet synchronous motor
With estimated PMSM feedback torque
iPI adjustment control is carried out on the difference value to obtain a given value of quadrature axis current
And calculating the given value of the direct-axis current according to the maximum torque current ratio
(2) Setting the quadrature axis current of the permanent magnet synchronous motor
Quadrature axis current feedback value i of permanent magnet synchronous motorqiPI adjustment control is carried out to obtain a given quadrature axis voltage uq(ii) a Setting the direct axis current of the permanent magnet synchronous motor
Quadrature axis current feedback value i of permanent magnet synchronous motordiPI adjustment control is carried out to obtain a given direct axis voltage ud；
(3) Setting the quadrature axis voltage u of the permanent magnet synchronous motorqWith given value u of voltage on the straight axisdObtaining a two-phase stationary voltage u by IPARK conversionα、uβ(ii) a By means of a two-phase rest voltage uα、uβAnd performing space voltage vector pulse width modulation to generate SVPWM (space vector pulse width modulation) waves, controlling the switching-on and switching-off of a switching tube of the inverter circuit, and controlling the permanent magnet synchronous motor.
8. A permanent magnet synchronous motor controller, characterized in that it implements the control method of a permanent magnet synchronous motor according to claims 1-7.
9. A permanent magnet synchronous motor incorporating the permanent magnet synchronous motor controller of claim 8.
10. A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
obtaining the actual value of the three-phase current and the actual value of the bus voltage of the permanent magnet synchronous motor through the sampling resistor and the chip;
converting the actual value of the three-phase current of the permanent magnet synchronous motor and the actual value of the bus voltage to obtain a two-phase rotating current value and a two-phase rotating voltage value of the permanent magnet synchronous motor;
reconstructing and estimating the flux linkage through an observer based on the obtained two-phase rotating current value and two-phase rotating voltage value of the permanent magnet synchronous motor to obtain a flux linkage estimated value, and obtaining an estimated value of the rotating speed according to the self-adaptive rate; calculating to obtain an estimated value of the torque according to a motor torque equation;
the observer feeds back the obtained estimated value of the rotating speed and the estimated value of the torque; and the controller controls the permanent magnet synchronous motor according to the feedback estimated value of the rotating speed and the feedback estimated value of the torque.
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