CN112865648A - Parameter identification-combined high-frequency voltage injection control method for permanent magnet synchronous motor - Google Patents

Parameter identification-combined high-frequency voltage injection control method for permanent magnet synchronous motor Download PDF

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CN112865648A
CN112865648A CN202110096838.5A CN202110096838A CN112865648A CN 112865648 A CN112865648 A CN 112865648A CN 202110096838 A CN202110096838 A CN 202110096838A CN 112865648 A CN112865648 A CN 112865648A
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frequency
estimated
coordinate system
parameter
inductance
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张硕
滕继辉
汪洋
崔星
张承宁
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Beijing Institute of Technology BIT
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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
    • 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
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • 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
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • 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
    • H02P27/08—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 with pulse width modulation
    • 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
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/183—Circuit arrangements for detecting position without separate position detecting elements using an injected high frequency signal
    • 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
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/05—Determination of the rotor position by using two different methods and/or motor models
    • 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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  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention provides a permanent magnet synchronous motor high-frequency voltage injection control method combining parameter identification, and aims to overcome the defects that a high-frequency voltage injection method in the prior art has high dependence on good current amplitude-frequency characteristics, and cannot be normally used under the condition that a large amount of high-frequency harmonic waves can appear in the current when parameters are mismatched, particularly when inductors are mismatched. The method adopts a control mode of combining a pulse vibration high-frequency voltage injection method and a parameter identification method, and removes high-frequency harmonic waves in current by substituting identified parameters into closed-loop control, so that the high-frequency voltage injection method can accurately extract the rotating speed and the rotor position of the motor regardless of influences caused by parameter mismatch, and the robustness of the high-frequency voltage injection method on the parameters is improved.

Description

Parameter identification-combined high-frequency voltage injection control method for permanent magnet synchronous motor
Technical Field
The invention belongs to the technical field of permanent magnet synchronous motor control, and particularly relates to a method for controlling a motor by using a pulse vibration high-frequency voltage injection method under the condition of inductance mismatch.
Background
In closed-loop vector control of a permanent magnet synchronous motor, the rotor position is usually obtained as an extremely important feedback information by a resolver at the end of the motor and a resolver analysis board. However, in general, the application of the rotary transformer brings problems, such as the existence of the transformer makes the installation space of the whole motor large, and especially when the rotary transformer is used on a vehicle, the transformer occupies a scarce space; and the rotary transformer analysis board makes a motor control system more complicated, increases the risk of damage of the control system and limits the application occasions of the motor to a certain extent. Meanwhile, the cost of the motor control system is increased due to the fact that the rotary transformer is not expensive, and market popularization is not facilitated.
The position-free control technology aiming at the permanent magnet synchronous motor developed in the following can effectively overcome the defects of the mechanical sensor. At present, a method based on high-frequency voltage signal injection is generally used under a low-speed working condition, and a relatively wide sliding-mode observer method, a model reference adaptive method and the like are used under a medium-high speed working condition, but the methods have certain defects, for example, the high-frequency voltage injection method depends on good current frequency response characteristics, the sliding-mode control has a shock effect, the model reference method depends on the accuracy of a model and the like, so that in the practical application of the control methods, how to overcome the defects is the technical problem to be solved in the field.
Disclosure of Invention
In view of this, the present invention provides a method for controlling high frequency voltage injection of a permanent magnet synchronous motor by combining parameter identification, so as to overcome the defects of the high frequency voltage injection mode in the prior art, and the method specifically comprises the following steps:
firstly, acquiring three-phase current of a permanent magnet synchronous motor in real time on line;
step two, establishing a mathematical model under a d-q coordinate system of the permanent magnet synchronous motor, and identifying equivalent inductance parameters under the coordinate system by using a recursive least square method;
step three, based on the high-frequency voltage injection method, firstly establishing an estimated rotating coordinate system
Figure BDA0002914276400000011
And is arranged at
Figure BDA0002914276400000012
Injecting a high-frequency sinusoidal signal into the shaft; substituting the equivalent inductance parameter identified in the step two into the closed loop control calculation
Figure BDA0002914276400000013
Shaft and
Figure BDA0002914276400000014
the current of the shaft; extracting corresponding high-frequency current components through filtering, thereby extracting position information in the current;
further, the mathematical model under the d-q coordinate system of the permanent magnet synchronous motor established in the second step specifically includes:
sequentially performing Clark conversion and Park conversion on the three-phase current collected in the step one, and establishing the following model:
Figure BDA0002914276400000021
in the formula id、iqD-and q-axis currents, UdAnd UqIs d-axis and q-axis voltage, RsAnd LsIs the equivalent resistance and inductance in d-q coordinate system, weIs the electrical angular velocity of the rotor, /)fIs a permanent magnet flux linkage;
at idIn the vector control method of 0, the vector control method can be expressed as a form of vector multiplication of:
Figure BDA0002914276400000022
further, the identifying the equivalent inductance parameter in the coordinate system by using the recursive least square method in the second step specifically includes:
s2.1, setting initial parameter values, observing to obtain m state equations containing parameters to be estimated and m error equations of real state values and estimated state values, and calculating the square sum F of m errors, wherein the formula is as follows:
Figure BDA0002914276400000023
in the formula, E represents the error between the state estimation value and the observation value, Y represents the state value vector of the real observation, X represents the state variable matrix, theta represents the parameter matrix to be estimated, and X theta is the state estimation value vector;
s2.2, obtaining the optimal parameter estimation by deriving the error sum of squares formula and making the error sum of squares equal to zero:
Figure BDA0002914276400000024
wherein
Figure BDA0002914276400000025
Is an estimated value of theta, namely an equivalent inductance parameter to be estimated;
s2.3, two new variables P (m) and P (m +1) are defined:
Figure BDA0002914276400000026
wherein m represents the number of observation equations;
then it is possible to obtain:
P(m+1)＝[P-1(m)+XT(m+1)X(m+1)]-1
＝P(m)-P(m)XT(m+1)[1+X(m+1)P(m)XT(m+1)]-1X(m+1)P(m)；
s2.4, substituting the formula P (m +1) into S2.2 to obtain the optimal parameter estimation:
Figure BDA0002914276400000027
in the formula
Figure BDA0002914276400000028
Represents the optimal estimated value of the parameter obtained after m observation equations, and y (m +1) represents the m +1 th observation value.
Further, the third step specifically includes: an estimated rotational coordinate system is established
Figure BDA0002914276400000031
And is arranged at
Figure BDA0002914276400000032
The axis injects a high frequency sinusoidal signal, expressed as follows:
Figure BDA0002914276400000033
wherein the content of the first and second substances,
Figure BDA0002914276400000034
are respectively as
Figure BDA0002914276400000035
Shaft and
Figure BDA0002914276400000036
axial voltage uinIs the amplitude, w, of the high-frequency voltageinIs the angular frequency of the high frequency voltage, t is the time;
an inductance model under a static coordinate system and a motor model under high-frequency excitation are respectively shown as follows, wherein Ld and Lq are respectively d-axis inductance and q-axis inductance, and theta iseIs the electrical angle of the rotor and,
Figure BDA0002914276400000037
referred to as the average inductance,
Figure BDA0002914276400000038
referred to as half-differential inductance;
Figure BDA0002914276400000039
Figure BDA00029142764000000310
the high-frequency current expression in the estimated rotation synchronous coordinate system can be obtained according to the two formulas, wherein
Figure BDA00029142764000000317
Is the error of the true rotor angle and the estimated rotor angle;
the high frequency current in this coordinate system is represented in the form:
Figure BDA00029142764000000312
to pair
Figure BDA00029142764000000313
The low-pass filtering of the shaft high-frequency current eliminates the high-frequency sine term in the shaft high-frequency current, and is represented as:
Figure BDA00029142764000000314
wherein
Figure BDA00029142764000000315
By making
Figure BDA00029142764000000316
Equal to 0, converges the estimated position of the rotor to the true rotor position.
The method provided by the invention provides an improvement aiming at the pulse oscillation high-frequency voltage injection method and combining a parameter identification means. The method overcomes the defects that the medium-high frequency voltage injection method in the prior art has higher dependence degree on good current amplitude-frequency characteristics, and cannot be normally used under the condition that a large amount of high-frequency harmonic waves can appear in the current of the motor when parameters are mismatched, particularly when the inductance is mismatched. According to the invention, by combining the high-frequency voltage injection method and the parameter identification method, the identified accurate parameters can be substituted into closed-loop control, the amplitude-frequency characteristic of the current is improved, and then the high-frequency voltage injection method can be applied to the working condition of parameter mismatch.
Drawings
FIG. 1 is a general framework of a control system corresponding to the method of the present invention;
FIG. 2 is the current amplitude frequency response before and after high frequency voltage signal injection when the inductance is not mismatched;
FIG. 3 illustrates a position estimation characteristic when there is no mismatch in the inductive parameters;
FIG. 4 is a graph of current amplitude frequency response before and after high frequency voltage signal injection after inductor mismatch;
FIG. 5 is a position estimation characteristic after an inductance mismatch;
FIG. 6 illustrates inductance parameters identified by a recursive least squares method;
FIG. 7 is a graph showing current amplitude-frequency response before and after high frequency voltage signal injection after substituting identification parameters into a closed loop during inductor mismatch;
FIG. 8 is a position estimation characteristic of a closed loop with an identification parameter when inductance mismatch occurs.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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.
The invention provides a permanent magnet synchronous motor high-frequency voltage injection control method combining parameter identification, which specifically comprises the following steps as shown in figure 1:
firstly, acquiring three-phase current of a permanent magnet synchronous motor in real time on line;
step two, establishing a mathematical model under a d-q coordinate system of the permanent magnet synchronous motor, and identifying equivalent inductance parameters under the coordinate system by using a recursive least square method;
step three, based on the high-frequency voltage injection method, firstly establishing an estimated rotating coordinate system
Figure BDA0002914276400000041
And is arranged at
Figure BDA0002914276400000042
Injecting a high-frequency sinusoidal signal into the shaft; substituting the equivalent inductance parameter identified in the step two into the closed loop control calculation
Figure BDA0002914276400000043
Shaft and
Figure BDA0002914276400000044
the current of the shaft; extracting corresponding high-frequency current components through filtering, thereby extracting position information in the current;
in a preferred embodiment of the present invention, the mathematical model under the d-q coordinate system of the permanent magnet synchronous motor established in the second step specifically includes:
sequentially performing Clark conversion and Park conversion on the three-phase current collected in the step one, and establishing the following model:
Figure BDA0002914276400000045
in the formula id、iqD-and q-axis currents, UdAnd UqIs d-axis and q-axis voltage, RsAnd LsIs the equivalent resistance and inductance in d-q coordinate system, weIs the electrical angular velocity of the rotor, /)fIs a permanent magnet flux linkage;
at idIn the vector control method of 0, the vector control method can be expressed as a form of vector multiplication of:
Figure BDA0002914276400000051
in a preferred embodiment of the present invention, the identifying the equivalent inductance parameter in the coordinate system by using a recursive least square method in the second step specifically includes:
s2.1, setting initial parameter values, observing to obtain m state equations containing parameters to be estimated and m error equations of real state values and estimated state values, and calculating the square sum of m errors, wherein the formula is as follows:
Figure BDA0002914276400000052
e represents the error between the state estimation value and the observed value, Y represents the state value vector of the real observation, X represents the state variable matrix theta represents the parameter matrix to be estimated, and X theta is the state estimation value vector;
s2.2, however, the method is not friendly to the situation of adding new observation equations, and when there is a new observation equation (i.e. the m +1 th observation equation), all matrix operations need to be recalculated, which undoubtedly increases the calculation complexity. Based on this consideration, using the recursive least squares method, when there are m +1 observation equations, the optimal parameter estimate can be obtained by deriving the above equation of sum of squared errors and making it equal to zero:
Figure BDA0002914276400000053
wherein
Figure BDA0002914276400000054
Is an estimated value of theta, namely an equivalent inductance parameter to be estimated;
s2.3, using a recursive least square method, wherein when m +1 observation equations exist, the optimal parameter estimation expression is as follows:
Figure BDA0002914276400000055
in the formulaXm+1Matrix of state variables representing m +1 observation equations, Ym+1Representing a matrix consisting of m +1 observations; establishing this equation on the basis of the first m observation equations, two new variables P (m) and P (m +1) are defined:
Figure BDA0002914276400000056
introducing a matrix theorem:
(A+BC)-1＝A-1-A-1B(E+CA-1B)-1CA-1wherein A, B and C represent non-singular matrices, respectively.
Applying matrix theorem to the new variables can obtain
P(m+1)＝[P-1(m)+XT(m+1)X(m+1)]-1
＝P(m)-P(m)XT(m+1)[1+X(m+1)P(m)XT(m+1)]-1X(m+1)P(m)
In the formula, X (m +1) represents the (m +1) th equation of state;
s2.4, substituting the formula P (m +1) obtained by S2.3 into S2.2 to obtain the optimal parameter estimation:
Figure BDA0002914276400000061
in the formula
Figure BDA0002914276400000062
And the optimal parameter estimation value obtained after the m observation equations is shown, y (m +1) represents the m +1 th observation value, and the optimal parameter estimation value based on the m +1 state equations is finally obtained.
In a preferred embodiment of the present invention, the third step is based on first establishing an estimated rotational coordinate system
Figure BDA0002914276400000063
And is arranged at
Figure BDA0002914276400000064
The axis injects a high frequency sinusoidal signal, expressed as follows. Wherein u isinIs the amplitude, w, of the high-frequency voltageinIs the angular frequency of the high frequency voltage.
Figure BDA0002914276400000065
The inductance model under the static coordinate system and the motor model under the high-frequency excitation are respectively shown as follows, wherein
Figure BDA0002914276400000066
Referred to as the average inductance,
Figure BDA0002914276400000067
referred to as half-differential inductance, θeIs the electrical angle of the rotor.
Figure BDA0002914276400000068
Figure BDA0002914276400000069
The high-frequency current expression in the estimated rotation synchronous coordinate system can be obtained according to the two formulas, wherein
Figure BDA00029142764000000616
Is the error of the true rotor angle and the estimated rotor angle.
Figure BDA00029142764000000611
From the high frequency current expression it can be seen that when the angle error is 0,
Figure BDA00029142764000000612
the high frequency current component of the shaft is 0, so from this angleStarting from, wish to pair
Figure BDA00029142764000000613
The axis current is appropriately processed to be equal to 0 even if the estimated rotational coordinate system coincides with the true synchronous rotational coordinate system.
Extracting rotor position by first extracting the position obtained by S2.4 method
Figure BDA00029142764000000614
The amplitude of the shaft high-frequency current is processed, and then a low-pass filter is used for eliminating a high-frequency sine term in the shaft high-frequency current, wherein the high-frequency sine term is expressed as:
Figure BDA00029142764000000615
wherein
Figure BDA0002914276400000071
It can be seen from the formula that
Figure BDA0002914276400000072
Involving rotor position error information, adjusted by phase-locked loop techniques
Figure BDA0002914276400000073
Making it equal to 0 makes it possible to converge the estimated position of the rotor to the true rotor position.
Fig. 2 and 3 show phase current amplitude-frequency characteristics before and after high-frequency voltage injection when there is no parameter mismatch, and the estimated rotor position and the real position comparison. Fig. 4 and 5 show amplitude-frequency characteristics of the phase current before and after the high-frequency signal injection when the inductance is mismatched, and compared with the rotor position, it can be seen that high-frequency harmonics appear in the phase current when the inductance is mismatched, which makes it impossible to extract a complete high-frequency response current after the high-frequency signal injection, and then a phenomenon of confusion of rotor position estimation appears. Fig. 6 shows the accurate inductance parameters identified by the parameter identification method. Fig. 7 and 8 show that the amplitude-frequency characteristics of the phase current are improved well after the identification parameters are substituted into the closed loop, so that the method can estimate the position of the rotor more accurately.
It should be understood that, the sequence numbers of the steps in the embodiments of the present invention do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (4)

1. A permanent magnet synchronous motor high-frequency voltage injection control method combined with parameter identification is characterized in that: the method comprises the following steps:
firstly, acquiring three-phase current of a permanent magnet synchronous motor in real time on line;
step two, establishing a mathematical model under a d-q coordinate system of the permanent magnet synchronous motor, and identifying equivalent inductance parameters under the coordinate system by using a recursive least square method;
step three, based on the high-frequency voltage injection method, firstly establishing an estimated rotating coordinate system
Figure FDA0002914276390000011
And is arranged at
Figure FDA0002914276390000012
Injecting a high-frequency sinusoidal signal into the shaft; substituting the equivalent inductance parameter identified in the step two into the closed loop control calculation
Figure FDA0002914276390000013
Shaft and
Figure FDA0002914276390000014
the current of the shaft; extracting corresponding high-frequency current components by filteringThereby extracting the position information in the current.
2. The method of claim 1, wherein: the mathematical model under the d-q coordinate system of the permanent magnet synchronous motor established in the second step specifically comprises the following steps:
sequentially performing Clark conversion and Park conversion on the three-phase current collected in the step one, and establishing the following model:
Figure FDA0002914276390000015
in the formula id、iqD-and q-axis currents, UdAnd UqIs d-axis and q-axis voltage, RsAnd LsIs the equivalent resistance and inductance in d-q coordinate system, weIs the electrical angular velocity of the rotor, /)fIs a permanent magnet flux linkage;
at idIn the vector control method of 0, the vector control method can be expressed as a form of vector multiplication of:
Figure FDA0002914276390000016
3. the method of claim 1, wherein: identifying the equivalent inductance parameter under the coordinate system by using a recursive least square method in the second step specifically comprises the following steps:
s2.1, giving initial parameter values, observing to obtain m state equations containing parameters to be estimated and m error equations of real state values and estimated state values, and calculating the square sum F of m errors:
Figure FDA0002914276390000017
in the formula, E represents the error between the state estimation value and the observation value, Y represents the state value vector of the real observation, X represents the state variable matrix, theta represents the parameter matrix to be estimated, and X theta is the state estimation value vector;
s2.2, obtaining the optimal parameter estimation by deriving the error sum of squares formula and making the error sum of squares equal to zero:
Figure FDA0002914276390000021
wherein
Figure FDA0002914276390000022
Is an estimated value of theta, namely an equivalent inductance parameter to be estimated;
s2.3, two new variables P (m) and P (m +1) are defined:
Figure FDA0002914276390000023
wherein m represents the number of observation equations;
then the following results are obtained:
P(m+1)＝[P-1(m)+XT(m+1)X(m+1)]-1
＝P(m)-P(m)XT(m+1)[1+X(m+1)P(m)XT(m+1)]-1X(m+1)P(m)；
s2.4, substituting the formula P (m +1) into S2.2 to obtain the optimal parameter estimation:
Figure FDA0002914276390000024
in the formula
Figure FDA0002914276390000025
Represents the optimal estimated value of the parameter obtained after m observation equations, and y (m +1) represents the m +1 th observation value.
4. The method of claim 1, wherein: the third step specifically comprises: an estimated rotational coordinate system is established
Figure FDA0002914276390000026
And is arranged at
Figure FDA0002914276390000027
The axis injects a high frequency sinusoidal signal, expressed as follows:
Figure FDA0002914276390000028
wherein the content of the first and second substances,
Figure FDA0002914276390000029
are respectively as
Figure FDA00029142763900000210
Shaft and
Figure FDA00029142763900000211
axial voltage uinIs the amplitude, w, of the high-frequency voltageinIs the angular frequency of the high frequency voltage, t is the time;
an inductance model under a static coordinate system and a motor model under high-frequency excitation are respectively shown as follows, wherein Ld and Lq are respectively d-axis inductance and q-axis inductance, and theta iseIs the electrical angle of the rotor and,
Figure FDA00029142763900000212
referred to as the average inductance,
Figure FDA00029142763900000213
referred to as half-differential inductance;
Figure FDA00029142763900000214
Figure FDA0002914276390000031
the high-frequency current expression in the estimated rotation synchronous coordinate system can be obtained according to the two formulas, wherein
Figure FDA0002914276390000032
Is the error of the true rotor angle from the estimated rotor angle;
the high frequency current in this coordinate system is represented in the form:
Figure FDA0002914276390000033
to pair
Figure FDA0002914276390000034
The low-pass filtering of the shaft high-frequency current eliminates the high-frequency sine term in the shaft high-frequency current, and is represented as:
Figure FDA0002914276390000035
wherein
Figure FDA0002914276390000036
By making
Figure FDA0002914276390000037
Equal to 0, converges the estimated position of the rotor to the true rotor position.
CN202110096838.5A 2021-01-25 2021-01-25 Parameter identification-combined high-frequency voltage injection control method for permanent magnet synchronous motor Pending CN112865648A (en)

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