CN112886899A - Self-control method and device for winding unit of N x 3 phase permanent magnet synchronous motor - Google Patents

Self-control method and device for winding unit of N x 3 phase permanent magnet synchronous motor Download PDF

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CN112886899A
CN112886899A CN202110056840.XA CN202110056840A CN112886899A CN 112886899 A CN112886899 A CN 112886899A CN 202110056840 A CN202110056840 A CN 202110056840A CN 112886899 A CN112886899 A CN 112886899A
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permanent magnet
winding
magnet synchronous
phase permanent
synchronous motor
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CN112886899B (en
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廖武
黄守道
黄晟
刘钰
李梦迪
梁戈
冯聪琪
吴轩
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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
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/22—Multiple windings; Windings for more than three phases
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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Abstract

The invention discloses an automatic control method and device for winding units of an N x 3-phase permanent magnet synchronous motor, which comprises the steps of decoupling N x 3-phase permanent magnet synchronous motor into N equivalent independent three-phase permanent magnet synchronous motor models by aiming at the problems of strong coupling between three-phase winding units, complex control, incapability of being universal with a three-phase permanent magnet motor, poor portability and the like of the conventional mathematical model of multi-d-q coordinate transformation and VSD vector space decoupling transformation; obtaining motor parameters of each three-phase permanent magnet synchronous motor model by adopting a motor online parameter identification method; and automatically controlling the winding unit of the N x 3-phase permanent magnet synchronous motor according to the three-phase permanent magnet synchronous motor model and the motor parameters. The invention does not need real-time data communication among the control units, can continue to use the three-phase permanent magnet motor control algorithm, has strong expansibility and can realize completely independent control on each three-phase winding unit.

Description

Self-control method and device for winding unit of N x 3 phase permanent magnet synchronous motor
Technical Field
The invention relates to a control technology of an N x 3 phase permanent magnet synchronous motor, in particular to a self-control method and a self-control device of a winding unit of the N x 3 phase permanent magnet synchronous motor.
Background
Compared with a three-phase permanent magnet synchronous motor driving system, the N × 3-phase permanent magnet synchronous motor has many advantages, such as: on the occasion that the power supply voltage is limited, the N x 3 phase motor driving system is an effective way for solving low-voltage high power; the phase number of the motor is increased, the output torque pulsation is small, and the pulsation frequency is increased, so that the low-speed characteristic of a driving system is greatly improved, and the vibration and the noise are reduced; due to the phase number redundancy, the overall reliability of the system is improved. Based on the advantages of the N x 3 phase permanent magnet synchronous motor, the motor is widely applied to occasions with high power, high reliability and the like, such as ship electric propulsion, electric automobile driving, aerospace, wind power generation and the like. With the increase of the number of phases of the motor, the centralized control architecture can reduce the modularization degree of the system and the flexibility of the system configuration, and the distributed control architecture taking each three-phase winding unit as a unit is adopted, so that each stator three-phase winding can be controlled by a corresponding controller, the problems can be avoided to a certain extent, and the maintainability and the reliability of the system can be improved. However, the distributed control currently studied requires each sub-controller to exchange data in real time through a high-speed network, which also causes the system to stop operating once the high-speed network system fails. Therefore, it is very important to research the self-control method of the winding unit of the N × 3-phase permanent magnet synchronous motor.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: aiming at the problems of strong coupling among three-phase winding units, complex control, incapability of being universal with a three-phase permanent magnet motor, poor portability and the like of the conventional mathematical model of multi-d-q coordinate transformation and VSD vector space decoupling transformation, the invention provides a self-control method and a device for the winding units of the N x 3-phase permanent magnet synchronous motor.
In order to solve the technical problems, the invention adopts the technical scheme that:
an N x 3 phase permanent magnet synchronous motor winding unit self-control method comprises the following steps:
1) the N x 3-phase permanent magnet synchronous motor is equivalently transformed and decoupled into N equivalent independent three-phase permanent magnet synchronous motor models;
2) obtaining motor parameters of each three-phase permanent magnet synchronous motor model by adopting a motor online parameter identification method;
3) and automatically controlling the winding unit of the N x 3-phase permanent magnet synchronous motor according to the three-phase permanent magnet synchronous motor model and the motor parameters.
Optionally, in the n equivalent independent three-phase permanent magnet synchronous motor models obtained in step 1), under the condition that the winding current is distributed evenly, an approximate function expression of any ith equivalent independent three-phase permanent magnet synchronous motor model is as follows:
Figure BDA0002900942340000021
in the above formula, udiAnd uqiDq-axis components, R, of the stator voltage of the i-th winding element, respectivelysiIs the resistance of the i-th winding unit, idiAnd iqiDq-axis components, L, of the winding current of the i-th winding element, respectivelydiAnd LqiThe dq axis components of the inductance of the i-th winding unit are respectively, n is the number of the winding units, and LmdAnd LmqDq-axis components, omega, of mutual inductance of two adjacent winding elements, respectivelyeFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machinefIs a permanent magnet flux linkage.
Optionally, in the n equivalent independent three-phase permanent magnet synchronous motor models obtained in step 1), under the condition that the winding current is distributed arbitrarily, an approximate function expression of an arbitrary ith equivalent independent three-phase permanent magnet synchronous motor model is as follows:
Figure BDA0002900942340000022
in the above formula, udiAnd uqiDq-axis components, R, of the stator voltage of the i-th winding element, respectivelysiIs the resistance of the i-th winding unit, idiAnd iqiDq-axis components, L, of the winding current of the i-th winding element, respectivelydiAnd LqiDq-axis components, L, of the inductances of the i-th winding elements, respectivelymdAnd LmqDq-axis components, omega, of mutual inductance of two adjacent winding elements, respectivelyeFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machinefIs a permanent magnet flux linkage.
Optionally, step 1) comprises:
1.1) determining a voltage equation and a flux linkage equation of each winding unit of the N x 3-phase permanent magnet synchronous motor;
1.2) obtaining a winding equation of each winding unit by combining a voltage equation and a flux linkage equation according to the mutual inductance equality among the winding units;
1.3) simplifying winding equations of all winding units according to the current distribution condition of all winding units of the N x 3-phase permanent magnet synchronous motor, thereby obtaining N equivalent independent three-phase permanent magnet synchronous motor models.
Optionally, the function expression of the voltage equation of any ith winding unit determined in step 1.1) is as follows:
Figure BDA0002900942340000023
in the above formula, udiAnd uqiDq-axis components, R, of the stator voltage of the i-th winding element, respectivelysiIs the resistance of the i-th winding unit, idiAnd iqiDq-axis components, ψ, of the winding currents of the i-th winding element, respectivelydiAnd psiqiDq-axis components, ω, of the stator flux linkage of the i-th winding unit, respectivelyeThe electrical angular velocity of the N x 3-phase permanent magnet synchronous motor is shown, and t is time.
Optionally, the function expression of the flux linkage equation of any ith winding unit determined in step 1.1) is as follows:
Figure BDA0002900942340000031
in the above formula, #diAnd psiqiDq-axis components, L, of the stator flux linkage of the i-th winding unit, respectivelydiAnd LqiDq-axis components, i, of inductances of i-th winding elements, respectivelydiAnd iqiDq-axis components, L, of the winding current of the i-th winding element, respectivelymd(i+1)toiAnd Lmq(i+1)toiDq-axis component, L, of mutual inductance of the i +1 th and i-th winding units, respectivelymd(i-1)toiAnd Lmq(i-1)toiDq-axis components, i, of mutual inductance of the i-1 th and i-th winding units, respectivelyd(i+1)And iq(i+1)Dq-axis components, i, of the winding currents of the i +1 th winding unit, respectivelyd(i-1)And iq(i-1)Dq-axis components, ψ, of winding currents of i-1 th winding elements, respectivelyfIs a permanent magnet flux linkage.
Optionally, the functional expression of the winding equation of each winding unit obtained in step 1.2) by combining the voltage equation and the flux linkage equation is as follows:
Figure BDA0002900942340000032
in the above formula, udiAnd uqiDq-axis components, R, of the stator voltage of the i-th winding element, respectivelysiIs the resistance of the i-th winding unit, idiAnd iqiDq-axis components, L, of the winding current of the i-th winding element, respectivelydiAnd LqiDq-axis components, L, of the inductances of the i-th winding elements, respectivelymdAnd LmqEach being the mutual inductance of two adjacent winding unitsComponent of dq axis, omegaeFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machinefIs a permanent magnet flux linkage. Wherein:
Figure BDA0002900942340000033
the ratio of the two components is small and can be approximately ignored.
Optionally, the online parameter identification method of the motor adopted in step 2) is a least square method, and an expression form of a least square method of a voltage equation of the three-phase permanent magnet synchronous motor model is as follows:
Figure BDA0002900942340000034
in the above formula, udAnd uqAre respectively dq-axis components of the stator voltage, RsResistance, i, for a model of a three-phase PMSMdAnd iqAre the dq-axis components, omega, of the winding current, respectivelyeFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machinefIs a permanent magnet flux linkage, LdAnd LqThe dq axis components of the inductance of the three-phase permanent magnet synchronous motor model are respectively, and p is a differential operator; in the expression form of the least square method of the voltage equation, an input matrix
Figure BDA0002900942340000041
Comprises the following steps:
Figure BDA0002900942340000042
parameter matrix
Figure BDA0002900942340000043
Comprises the following steps:
Figure BDA0002900942340000044
the output quantity matrix y (k) is:
Figure BDA0002900942340000045
and in the input matrix
Figure BDA0002900942340000046
In need of p isd、piqCarrying out discretization treatment on the differential:
Figure BDA0002900942340000047
in the above formula, id(k) And iq(k) Dq-axis component of winding current at time k, id(k-1) and iq(k-1) is the dq-axis component of the winding current at time k-1, TsIs the sampling time.
In addition, the invention also provides an N x 3 phase permanent magnet synchronous motor winding unit self-control device, which comprises:
the model decoupling program unit is used for equivalently transforming and decoupling the N x 3-phase permanent magnet synchronous motor into N equivalent independent three-phase permanent magnet synchronous motor models;
the parameter identification program unit is used for obtaining the motor parameters of each three-phase permanent magnet synchronous motor model by adopting a motor online parameter identification method;
and the independent control program unit is used for automatically controlling the winding unit of the N x 3 phase permanent magnet synchronous motor according to the three-phase permanent magnet synchronous motor model and the motor parameters.
In addition, the invention also provides an N x 3 phase permanent magnet synchronous motor winding unit self-control device which comprises a microprocessor and a memory which are connected with each other, wherein the microprocessor is programmed or configured to execute the steps of the N x 3 phase permanent magnet synchronous motor winding unit self-control method.
In addition, the present invention also provides a computer readable storage medium having stored therein a computer program programmed or configured to execute the self-control method of the winding unit of the N x 3-phase permanent magnet synchronous motor.
Compared with the prior art, the invention has the following advantages:
1. aiming at the problems of strong coupling among three-phase winding units, complex control, incapability of being universal with a three-phase permanent magnet motor, poor portability and the like of the conventional mathematical model with multi-d-q coordinate transformation and VSD vector space decoupling transformation, the invention decouples the N x 3 phase permanent magnet synchronous motor into N equivalent independent three-phase permanent magnet synchronous motor models; obtaining motor parameters of each three-phase permanent magnet synchronous motor model by adopting a motor online parameter identification method; and automatically controlling the winding unit of the N x 3-phase permanent magnet synchronous motor according to the three-phase permanent magnet synchronous motor model and the motor parameters. The invention does not need real-time data communication among the control units, can continue to use the three-phase permanent magnet motor control algorithm, has strong expansibility and can realize completely independent control on each three-phase winding unit.
2. The invention adopts distributed decoupling control of the N x 3-phase permanent magnet synchronous motor, which is different from a mathematical model of multi-d-q coordinate transformation and vector space decoupling transformation, the transformed motor model does not need to exchange current among windings for control, each independent motor three-phase winding is completely identical with the three-phase permanent magnet synchronous motor for control, the N x 3-phase permanent magnet synchronous motor transformed by the model does not need real-time data communication among control units, a three-phase permanent magnet motor control algorithm can be used, the expansibility is strong, the complete independent control of each three-phase winding unit can be realized, and the application of the N x 3-phase permanent magnet synchronous motor has practical value.
Drawings
FIG. 1 is a schematic diagram of a basic flow of a method according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a control module of the N × 3-phase permanent magnet synchronous motor in the method according to the embodiment of the present invention.
Detailed Description
As shown in fig. 1, the self-control method of the winding unit of the N × 3-phase permanent magnet synchronous motor in the present embodiment includes:
1) the N x 3-phase permanent magnet synchronous motor is equivalently transformed and decoupled into N equivalent independent three-phase permanent magnet synchronous motor models;
2) obtaining motor parameters of each three-phase permanent magnet synchronous motor model by adopting a motor online parameter identification method;
3) and automatically controlling the winding unit of the N x 3-phase permanent magnet synchronous motor according to the three-phase permanent magnet synchronous motor model and the motor parameters.
In this embodiment, in the n equivalent independent three-phase permanent magnet synchronous motor models obtained in step 1), under the condition that the winding current is distributed evenly, an approximate function expression of any ith equivalent independent three-phase permanent magnet synchronous motor model is as follows:
Figure BDA0002900942340000051
in the above formula, udiAnd uqiDq-axis components, R, of the stator voltage of the i-th winding element, respectivelysiIs the resistance of the i-th winding unit, idiAnd iqiDq-axis components, L, of the winding current of the i-th winding element, respectivelydiAnd LqiThe dq axis components of the inductance of the i-th winding unit are respectively, n is the number of the winding units, and LmdAnd LmqDq-axis components, omega, of mutual inductance of two adjacent winding elements, respectivelyeFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machinefIs a permanent magnet flux linkage, i ═ 1, 2.
In this embodiment, in the n equivalent independent three-phase permanent magnet synchronous motor models obtained in step 1), under the condition that the winding current is distributed arbitrarily, the approximate function expression of an arbitrary ith equivalent independent three-phase permanent magnet synchronous motor model is as follows:
Figure BDA0002900942340000052
in the above formula, udiAnd uqiDq-axis components, R, of the stator voltage of the i-th winding element, respectivelysiIs the resistance of the i-th winding unit, idiAnd iqiDq-axis components, L, of the winding current of the i-th winding element, respectivelydiAnd LqiAre respectively the ith winding unitD-axis component of the inductance of (1), LmdAnd LmqDq-axis components, omega, of mutual inductance of two adjacent winding elements, respectivelyeFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machinefIs a permanent magnet flux linkage.
In this embodiment, the N × 3-phase permanent magnet synchronous motor includes N winding units in total, and the functional expressions of the voltage equations of the 1 st to N winding units (i ═ 1, 2.. multidot., N, the same applies below) are respectively:
Figure BDA0002900942340000061
Figure BDA0002900942340000062
…
Figure BDA0002900942340000063
the function expression of any ith equivalent independent three-phase permanent magnet synchronous motor model in the n equivalent independent three-phase permanent magnet synchronous motor models can be equivalent to:
Figure BDA0002900942340000064
Figure BDA0002900942340000065
…
Figure BDA0002900942340000066
in the above formula, Rs1 *～Rsn *Stator resistances, L, of the 1 st to n th windings, respectivelyd1 *～Ldn *Respectively representD-axis inductance of 1-n sets of windings, Lq1 *～Lqn *Q-axis inductances of the 1 st to n-th sets of windings are shown, respectively.
As shown in fig. 2, on the basis of obtaining a model and motor parameters of a three-phase permanent magnet synchronous motor, a controller 1 to a controller N respectively control corresponding drivers 1 to N to perform distributed control on corresponding winding units in an N × 3-phase permanent magnet synchronous motor (N × 3PMSM), the control method is a control method of a conventional three-phase permanent magnet motor, and the closed-loop feedback amount includes: three-phase current i of winding unitai，ibi，iciElectric angular velocity ω of N x 3-phase permanent magnet synchronous motorePhase θ of winding uniteiThe output control quantity is three-phase voltage Vai，Vbi，Vci1, 2.., n. Each winding unit of the N-by-3 phase permanent magnet synchronous motor is independently controlled and is provided with an independent controller and a driver.
In this embodiment, step 1) includes:
1.1) determining a voltage equation and a flux linkage equation of each winding unit of the N x 3-phase permanent magnet synchronous motor;
1.2) obtaining a winding equation of each winding unit by combining a voltage equation and a flux linkage equation according to the mutual inductance equality among the winding units;
1.3) simplifying winding equations of all winding units according to the current distribution condition of all winding units of the N x 3-phase permanent magnet synchronous motor, thereby obtaining N equivalent independent three-phase permanent magnet synchronous motor models.
In this embodiment, the function expression of the voltage equation of any ith winding unit determined in step 1.1) is as follows:
Figure BDA0002900942340000071
in the above formula, udiAnd uqiDq-axis components, R, of the stator voltage of the i-th winding element, respectivelysiIs the resistance of the i-th winding unit, idiAnd iqiDq-axis components of the winding currents of the i-th winding unit, respectively，ψdiAnd psiqiDq-axis components, ω, of the stator flux linkage of the i-th winding unit, respectivelyeThe electrical angular velocity of the N x 3-phase permanent magnet synchronous motor is shown, and t is time.
In this embodiment, the N × 3-phase permanent magnet synchronous motor includes N winding units in total, and the functional expressions of the voltage equations of the 1 st to N winding units are respectively:
Figure BDA0002900942340000072
Figure BDA0002900942340000073
…
Figure BDA0002900942340000074
wherein, ω iseIs the electrical angular velocity of the motor ud1、uq1、ud2、uq2...udn、uqnFor the stator voltage of each set of winding units, id1、iq1、id2、iq2...idn、iqnStator currents for sets of winding elements, psid1、ψq1、ψd2、ψq2...ψdn、ψqnIs the stator flux linkage of each set of winding units.
In this embodiment, the function expression of the flux linkage equation of any ith winding unit determined in step 1.1) is:
Figure BDA0002900942340000081
in the above formula, #diAnd psiqiDq-axis components, L, of the stator flux linkage of the i-th winding unit, respectivelydiAnd LqiDq-axis components, i, of inductances of i-th winding elements, respectivelydiAnd iqiAre respectively provided withIs the dq-axis component, L, of the winding current of the i-th winding elementmd(i+1)toiAnd Lmq(i+1)toiDq-axis component, L, of mutual inductance of the i +1 th and i-th winding units, respectivelymd(i-1)toiAnd Lmq(i-1)toiDq-axis components, i, of mutual inductance of the i-1 th and i-th winding units, respectivelyd(i+1)And iq(i+1)Dq-axis components, i, of the winding currents of the i +1 th winding unit, respectivelyd(i-1)And iq(i-1)Dq-axis components, ψ, of winding currents of i-1 th winding elements, respectivelyfIs a permanent magnet flux linkage.
In this embodiment, the N × 3-phase permanent magnet synchronous motor includes N winding units in total, and the functional expressions of the flux linkage equations of the 1 st to N winding units are respectively:
Figure BDA0002900942340000082
Figure BDA0002900942340000083
…
Figure BDA0002900942340000084
wherein L isd1、Lq1、Ld2、Lq2...Ldn、LqnDq-axis inductance, L, for each set of windingsmd1to2、Lmq1to2、Lmd2to1、Lmq2to1、Lmd3to2、Lmq3to2...Lmdnto1、Lmqnto1、Lmdnto2、Lmqnto2、Lmd1ton、Lmq1ton、Lmd(n-1)ton、Lmq(n-1)tonFor mutual inductance between d-and q-axes of the wound windings,. psifIs a permanent magnet flux linkage. It should be noted that, in this embodiment, the N × 3-phase permanent magnet synchronous motor totally includes N winding units, and the i-1 th winding unit, the i-th winding unit, and the i +1 th winding unit refer to phasesThree adjacent winding units, wherein when i is equal to 1, i-1 is n, and i +1 is 2 at the boundary, because the winding units are arranged in a ring shape; when i ═ n, i-1 is n-1 and i +1 is 1.
Combining the voltage equation and the flux linkage equation, and Lmd1to2＝Lmd2to1＝...＝Lmd1ton＝Lmdnto1＝Lmd，Lmq1to2＝Lmq2to1＝...＝Lmq1ton＝Lmqnto1＝LmqThe functional expression of the winding equation of each winding unit obtained by combining the voltage equation and the flux linkage equation in step 1.2) of this embodiment is:
Figure BDA0002900942340000091
in the above formula, udiAnd uqiDq-axis components, R, of the stator voltage of the i-th winding element, respectivelysiIs the resistance of the i-th winding unit, idiAnd iqiDq-axis components, L, of the winding current of the i-th winding element, respectivelydiAnd LqiDq-axis components, L, of the inductances of the i-th winding elements, respectivelymdAnd LmqDq-axis components, omega, of mutual inductance of two adjacent winding elements, respectivelyeFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machinefIs a permanent magnet flux linkage. Wherein:
Figure BDA0002900942340000092
on the basis, step 1.3) simplifies the winding equations of all the winding units according to the current distribution condition of all the winding units of the N x 3-phase permanent magnet synchronous motor, so that N equivalent independent three-phase permanent magnet synchronous motor models are obtained. Namely:
under the condition that the winding current is distributed evenly, the approximate function expression of any ith equivalent independent three-phase permanent magnet synchronous motor model is as follows:
Figure BDA0002900942340000093
in the above formula, udiAnd uqiDq-axis components, R, of the stator voltage of the i-th winding element, respectivelysiIs the resistance of the i-th winding unit, idiAnd iqiDq-axis components, L, of the winding current of the i-th winding element, respectivelydiAnd LqiThe dq axis components of the inductance of the i-th winding unit are respectively, n is the number of the winding units, and LmdAnd LmqDq-axis components, omega, of mutual inductance of two adjacent winding elements, respectivelyeFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machinefIs a permanent magnet flux linkage, i ═ 1, 2.
Under the condition that the winding current is distributed randomly, the approximate function expression of any ith equivalent independent three-phase permanent magnet synchronous motor model is as follows:
Figure BDA0002900942340000094
in the above formula, udiAnd uqiDq-axis components, R, of the stator voltage of the i-th winding element, respectivelysiIs the resistance of the i-th winding unit, idiAnd iqiDq-axis components, L, of the winding current of the i-th winding element, respectivelydiAnd LqiDq-axis components, L, of the inductances of the i-th winding elements, respectivelymdAnd LmqDq-axis components, omega, of mutual inductance of two adjacent winding elements, respectivelyeFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machinefIs a permanent magnet flux linkage.
The motor online parameter identification method adopted in the step 2) can adopt a least square method, a model reference adaptive method, a Kalman filtering algorithm, an artificial intelligence algorithm and the like according to needs, and the obtained motor parameter of each three-phase permanent magnet synchronous motor model refers to the dq axis component L of the inductance of the three-phase permanent magnet synchronous motor modeldAnd Lq。
As an optional implementation manner, the motor online parameter identification method adopted in step 2) of this embodiment is a least square method, and an expression form of a voltage equation least square method of a three-phase permanent magnet synchronous motor model is as follows:
Figure BDA0002900942340000101
in the above formula, udAnd uqAre respectively dq-axis components of the stator voltage, RsResistance, i, for a model of a three-phase PMSMdAnd iqAre the dq-axis components, omega, of the winding current, respectivelyeFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machinefIs a permanent magnet flux linkage, LdAnd LqThe dq axis components of the inductance of the three-phase permanent magnet synchronous motor model are respectively, and p is a differential operator; in the expression form of the least square method of the voltage equation, an input matrix
Figure BDA0002900942340000102
Comprises the following steps:
Figure BDA0002900942340000103
parameter matrix
Figure BDA0002900942340000104
Comprises the following steps:
Figure BDA0002900942340000105
the output quantity matrix y (k) is:
Figure BDA0002900942340000106
and in the input matrix
Figure BDA0002900942340000107
In need of p isd、piqCarrying out discretization treatment on the differential:
Figure BDA0002900942340000108
in the above formula, id(k) And iq(k) Dq-axis component of winding current at time k, id(k-1) and iq(k-1) is the dq-axis component of the winding current at time k-1, TsIs the sampling time.
In summary, aiming at the problems of strong coupling between three-phase winding units, complex control, incapability of being universal with a three-phase permanent magnet motor, poor portability and the like of the existing mathematical model of multi-d-q coordinate transformation and VSD vector space decoupling transformation, the embodiment method decouples the N x 3-phase permanent magnet synchronous motor into N equivalent independent three-phase permanent magnet synchronous motor units for control by a model equivalent transformation method, and obtains the equivalent motor parameter value of each decoupled three-phase permanent magnet synchronous motor unit by an online parameter identification inductance parameter method, thereby completing complete decoupling control of the N x 3-phase permanent magnet synchronous motor. After complete decoupling, a control method of a standard three-phase motor can be adopted, real-time data communication among control units is not needed, a three-phase permanent magnet motor control algorithm can be used continuously, expansibility is strong, and each three-phase winding unit can be controlled completely and independently.
In addition, this embodiment also provides an N × 3 phase permanent magnet synchronous motor winding unit self-control device, including:
the model decoupling program unit is used for equivalently transforming and decoupling the N x 3-phase permanent magnet synchronous motor into N equivalent independent three-phase permanent magnet synchronous motor models;
the parameter identification program unit is used for obtaining the motor parameters of each three-phase permanent magnet synchronous motor model by adopting a motor online parameter identification method;
and the independent control program unit is used for automatically controlling the winding unit of the N x 3 phase permanent magnet synchronous motor according to the three-phase permanent magnet synchronous motor model and the motor parameters.
In addition, the present embodiment further provides an N × 3 phase permanent magnet synchronous motor winding unit self-control device, including a microprocessor and a memory connected to each other, where the microprocessor is programmed or configured to execute the steps of the aforementioned N × 3 phase permanent magnet synchronous motor winding unit self-control method.
In addition, the present embodiment also provides a computer-readable storage medium, in which a computer program programmed or configured to execute the aforementioned self-control method for the winding unit of the N × 3-phase permanent magnet synchronous motor is stored.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-readable 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 application is directed to methods, apparatus (systems), and computer program products according to embodiments of the application wherein instructions, which execute via a flowchart and/or a processor of the computer program product, create means for implementing functions specified in the flowchart and/or block diagram block or blocks. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.

Claims (10)

1. An N x 3 phase permanent magnet synchronous motor winding unit self-control method is characterized by comprising the following steps:
1) the N x 3-phase permanent magnet synchronous motor is equivalently transformed and decoupled into N equivalent independent three-phase permanent magnet synchronous motor models, wherein N is the number of three-phase winding units of the N x 3-phase permanent magnet synchronous motor, and N is equal to N for the N x 3-phase permanent magnet synchronous motor;
2) obtaining motor parameters of each three-phase permanent magnet synchronous motor model by adopting a motor online parameter identification method;
3) and automatically controlling the winding unit of the N x 3-phase permanent magnet synchronous motor according to the three-phase permanent magnet synchronous motor model and the motor parameters.
2. The winding unit self-control method of an N x 3-phase permanent magnet synchronous motor according to claim 1, wherein, in the N equivalent independent three-phase permanent magnet synchronous motor models obtained in step 1), under the condition that the winding current is distributed evenly, the approximate function expression of any ith equivalent independent three-phase permanent magnet synchronous motor model is as follows:
Figure FDA0002900942330000011
in the above formula, udiAnd uqiDq-axis components, R, of the stator voltage of the i-th winding element, respectivelysiIs the resistance of the i-th winding unit, idiAnd iqiDq-axis components, L, of the winding current of the i-th winding element, respectivelydiAnd LqiThe dq axis components of the inductance of the i-th winding unit are respectively, n is the number of the winding units, and LmdAnd LmqDq-axis components, omega, of mutual inductance of two adjacent winding elements, respectivelyeFor permanent-magnet synchronization of N x 3 phasesElectrical angular velocity of the motor, #fIs a permanent magnet flux linkage.
3. The winding unit self-control method of an N x 3-phase permanent magnet synchronous motor according to claim 1, wherein in the N equivalent independent three-phase permanent magnet synchronous motor models obtained in step 1), under any distribution of winding current, an approximate function expression of any ith equivalent independent three-phase permanent magnet synchronous motor model is as follows:
Figure FDA0002900942330000012
in the above formula, udiAnd uqiDq-axis components, R, of the stator voltage of the i-th winding element, respectivelysiIs the resistance of the i-th winding unit, idiAnd iqiDq-axis components, L, of the winding current of the i-th winding element, respectivelydiAnd LqiDq-axis components, L, of the inductances of the i-th winding elements, respectivelymdAnd LmqDq-axis components, omega, of mutual inductance of two adjacent winding elements, respectivelyeFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machinefIs a permanent magnet flux linkage.
4. The winding unit self-control method of an N x 3-phase permanent magnet synchronous motor according to claim 1, wherein the step 1) comprises:
1.1) determining a voltage equation and a flux linkage equation of each winding unit of the N x 3-phase permanent magnet synchronous motor;
1.2) obtaining a winding equation of each winding unit by combining a voltage equation and a flux linkage equation according to the mutual inductance equality among the winding units;
1.3) simplifying winding equations of all winding units according to the current distribution condition of all winding units of the N x 3-phase permanent magnet synchronous motor, thereby obtaining N equivalent independent three-phase permanent magnet synchronous motor models.
5. The winding unit self-control method of the N x 3-phase permanent magnet synchronous motor according to claim 4, wherein the function expression of the voltage equation of any ith winding unit determined in step 1.1) is as follows:
Figure FDA0002900942330000021
in the above formula, udiAnd uqiDq-axis components, R, of the stator voltage of the i-th winding element, respectivelysiIs the resistance of the i-th winding unit, idiAnd iqiDq-axis components, ψ, of the winding currents of the i-th winding element, respectivelydiAnd psiqiDq-axis components, ω, of the stator flux linkage of the i-th winding unit, respectivelyeThe electrical angular velocity of the N x 3-phase permanent magnet synchronous motor is shown, and t is time.
6. The winding unit self-control method of the N x 3-phase permanent magnet synchronous motor according to claim 4, wherein the functional expression of the flux linkage equation of any ith winding unit determined in step 1.1) is as follows:
Figure FDA0002900942330000022
in the above formula, #diAnd psiqiDq-axis components, L, of the stator flux linkage of the i-th winding unit, respectivelydiAnd LqiDq-axis components, i, of inductances of i-th winding elements, respectivelydiAnd iqiDq-axis components, L, of the winding current of the i-th winding element, respectivelymd(i+1)toiAnd Lmq(i+1)toiDq-axis component, L, of mutual inductance of the i +1 th and i-th winding units, respectivelymd(i-1)toiAnd Lmq(i-1)toiDq-axis components, i, of mutual inductance of the i-1 th and i-th winding units, respectivelyd(i+1)And iq(i+1)Dq-axis components, i, of the winding currents of the i +1 th winding unit, respectivelyd(i-1)And iq(i-1)Dq-axis components, ψ, of winding currents of i-1 th winding elements, respectivelyfIs a permanent magnet flux linkage.
7. The winding unit self-control method of the N x 3-phase permanent magnet synchronous motor according to claim 1, wherein the motor online parameter identification method adopted in the step 2) is a least square method, and an expression form of a voltage equation least square method of a three-phase permanent magnet synchronous motor model is as follows:
Figure FDA0002900942330000023
in the above formula, udAnd uqAre respectively dq-axis components of the stator voltage, RsResistance, i, for a model of a three-phase PMSMdAnd iqAre the dq-axis components, omega, of the winding current, respectivelyeFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machinefIs a permanent magnet flux linkage, LdAnd LqThe dq axis components of the inductance of the three-phase permanent magnet synchronous motor model are respectively, and p is a differential operator; in the expression form of the least square method of the voltage equation, an input matrix
Figure FDA0002900942330000024
Comprises the following steps:
Figure FDA0002900942330000031
parameter matrix
Figure FDA0002900942330000032
Comprises the following steps:
Figure FDA0002900942330000033
the output quantity matrix y (k) is:
Figure FDA0002900942330000034
and in the input matrix
Figure FDA0002900942330000035
In need of p isd、piqCarrying out discretization treatment on the differential:
Figure FDA0002900942330000036
in the above formula, id(k) And iq(k) Dq-axis component of winding current at time k, id(k-1) and iq(k-1) is the dq-axis component of the winding current at time k-1, TsIs the sampling time.
8. An automatic control device for winding units of an N x 3-phase permanent magnet synchronous motor is characterized by comprising the following components:
the model decoupling program unit is used for equivalently transforming and decoupling the N x 3-phase permanent magnet synchronous motor into N equivalent independent three-phase permanent magnet synchronous motor models;
the parameter identification program unit is used for obtaining the motor parameters of each three-phase permanent magnet synchronous motor model by adopting a motor online parameter identification method;
and the independent control program unit is used for automatically controlling the winding unit of the N x 3 phase permanent magnet synchronous motor according to the three-phase permanent magnet synchronous motor model and the motor parameters.
9. An N x 3 phase permanent magnet synchronous motor winding unit self-control device comprising a microprocessor and a memory connected to each other, characterized in that the microprocessor is programmed or configured to perform the steps of the N x 3 phase permanent magnet synchronous motor winding unit self-control method according to any one of claims 1 to 7.
10. A computer readable storage medium having stored thereon a computer program programmed or configured to perform a method of self-controlling winding units of an N x 3-phase permanent magnet synchronous motor according to any one of claims 1 to 7.
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