CN113141133B - Modular multi-winding permanent magnet motor parameter identification method and system based on least square method - Google Patents
Modular multi-winding permanent magnet motor parameter identification method and system based on least square method Download PDFInfo
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- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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- 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
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- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
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Abstract
The invention discloses a method and a system for identifying parameters of a modular multi-winding permanent magnet motor by a least square method, wherein a voltage equation after high-frequency harmonic components are injected is established by injecting high-frequency signals of a torque angle based on measured voltage and current, an addition and subtraction combined voltage equation is obtained by adding and subtracting measured voltage of each module, sine and cosine signals are processed and filtered by aiming at the addition and subtraction combined voltage equation to obtain a new voltage equation set, the new voltage equation set is solved by the least square method to obtain motor parameter observed values, the problem of real-time online identification of multiple parameters of the novel modular multi-winding permanent magnet motor is solved, the inherent characteristics of the modular motor are effectively combined, the influence of the injected high-frequency signals on the torque and the rotating speed of the modular multi-winding permanent magnet motor is eliminated, and the novel modular multi-winding permanent magnet motor with accurate multiple parameters is realized, High-efficient discernment provides new visual angle new approach for novel modularization multi-winding permanent-magnet machine's high-efficient high-quality control.
Description
Technical Field
The invention relates to a control technology of a modular multi-winding permanent magnet motor, in particular to a modular multi-winding permanent magnet motor parameter identification method and system based on a least square method.
Background
The permanent magnet synchronous motor has the advantages of reliable operation, small volume, light weight, small loss, high efficiency and the like, China has rich rare earth resources, and has the advantage of being unique in the research and manufacture of the permanent magnet synchronous motor. Novel modularization PMSM has divided into a plurality of modules with the motor on three-phase PMSM's design basis, through realizing physics isolation and electromagnetism isolation between the different modules of motor for each module can carry out independent control, and the fault-tolerance and the reliability of PMSM have just simply and conveniently just effectively been promoted to the control strategy. Therefore, in the fields with high requirements on safety and reliability, such as aerospace, military engineering equipment, new energy rail transit and the like, the body design of the novel modular permanent magnet motor is widely concerned and deeply researched, but few literature reports are available about the efficient control of the novel modular permanent magnet motor. In the field of motor control, the accuracy of motor parameter identification directly affects the quality of the control performance of the whole system. When the novel modularized permanent magnet motor parameter identification is inaccurate, the motor parameters used in the controller are not mismatched with the actual motor parameters, so that the efficiency of the whole motor system is reduced, and even the motor is out of control under severe conditions. At present, researchers effectively and deeply explore the traditional three-phase permanent magnet synchronous motor online parameter identification method, but few researchers research and literature reports about the novel modularized permanent magnet motor parameter identification method result in that the control performance and the control effect of the motor are not ideal, and the application of the motor in the major engineering equipment in China is restricted. Therefore, the method breaks through the parameter identification method of the modular multi-winding permanent magnet motor system, and has great significance for realizing high-efficiency and high-quality control of the modular multi-winding permanent magnet motor system and accelerating the practical process of the modular multi-winding permanent magnet motor system.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: aiming at the problems in the prior art, the invention provides a method and a system for identifying the parameters of a modularized multi-winding permanent magnet motor based on a least square method, solves the problem of real-time online identification of the multi-parameters of the novel modularized multi-winding permanent magnet motor, effectively combines the inherent characteristics of the modularized motor, eliminates the influence of injected high-frequency signals on the torque and the rotating speed of the modularized multi-winding permanent magnet motor, realizes accurate and efficient identification of the multi-parameters of the novel modularized multi-winding permanent magnet motor, and provides a new view angle for efficient and high-quality control of the novel modularized multi-winding permanent magnet motor.
In order to solve the technical problems, the invention adopts the technical scheme that:
a modular multi-winding permanent magnet motor parameter identification method based on a least square method comprises the following steps:
1) the command current generated by the speed control loopI ref Averagely distributing the current control loops to each module of the modularized multi-winding permanent magnet motor, and injecting high-frequency harmonic components into the torque control angle of each current control loop of each module; obtaining corresponding voltage instruction values through the current control loops of the modules according to input calculation, and generating switching state quantities through independent SVPWM links respectively to control corresponding driving units;
2) collecting the measured voltage and current of each module of the modularized multi-winding permanent magnet motor;
3) establishing a voltage equation after injecting high-frequency harmonic components based on the measured voltage and current of each module, performing addition and subtraction operation on the measured voltage of each module to obtain an addition and subtraction combined voltage equation, processing sine and cosine signals according to the addition and subtraction combined voltage equation and filtering to obtain a new voltage equation set, and solving the new voltage equation set by using a least square method to obtain a motor parameter observed value.
Optionally, when high-frequency harmonic components are injected into the torque control angle of the current control loop of each module in the step 1),module one injected high frequency harmonic component Δβ 1 And the high-frequency harmonic component Δ of the second injectionβ 2 The phase difference between the two is pi, and the high-frequency harmonic component delta injected by the module Iβ 1 And the high-frequency harmonic component Δ of the second injectionβ 2 The function expression of (a) is as follows:
in the above formula, the first and second carbon atoms are,Ais the magnitude of the high-frequency harmonic components,ωthe frequencies that are the high-frequency harmonic components,tis time.
Optionally, the step 1) of obtaining the corresponding voltage command value through the current control loop of each module according to the input calculation means that the PID control is adopted to obtain the corresponding voltage command value according to the input calculation.
Optionally, step 2) comprises: collecting three-phase voltage and current of each module of modularized multi-winding permanent magnet motor, and obtaining measurement current of module I through coordinate transformationdqAxial componentid 1 ,iq 1 Measuring voltagedqAxial componentud 1 ,uq 1 Of module two measuring currentdqAxial componentid 2 ,iq 2 Measuring voltagedqAxial componentud 2 ,uq 2 。
Optionally, the functional expression of the voltage equation after injecting the high-frequency harmonic component is established based on the measured voltage and current of each module in step 3) is as follows:
in the above formula, the first and second carbon atoms are,ud 1 ,uq 1 for measuring voltage, each module being a firstdqThe axial component of the magnetic flux is,ud 2 ,uq 2 of voltage measurement of module two respectivelydqThe axial component of the magnetic flux is,Ris a resistor of the motor and is used as a resistor of the motor,id s ,iq s are respectively asdqThe direct current value of the shaft current is,Ais the magnitude of the harmonic components at high frequencies,ωthe frequencies that are the high-frequency harmonic components,tas a matter of time, the time is,Ld,Lqbeing an inductance of the machinedqThe axial component of the magnetic flux is,ω e is the electric rotating speed of the motor,ψ f is a motor rotor flux linkage.
Optionally, in step 3), a functional expression of an addition and subtraction combined voltage equation obtained by performing addition and subtraction on the measured voltage of each module is shown as follows:
in the above formula, the first and second carbon atoms are,ud 1 ,uq 1 for measuring voltage, each module being a firstdqThe axial component of the magnetic flux is,ud 2 ,uq 2 of voltage measurement of module two respectivelydqThe axial component of the magnetic flux is,Ris a resistor of the motor and is used as a resistor of the motor,id s ,iq s are respectively asdqThe direct current value of the shaft current is,Ais the magnitude of the harmonic components at high frequencies,ωthe frequencies that are the high-frequency harmonic components,tas a matter of time, the time is,Ld,Lqbeing an inductance of the machinedqThe axial component of the magnetic flux is,ω e is the electric rotating speed of the motor,ψ f is a motor rotor flux linkage.
Optionally, the function expression of the new voltage equation set obtained by processing and filtering the sine and cosine signals for the addition and subtraction combined voltage equation in step 3) is as follows:
and the functional expression of the new voltage equation set written in matrix form is shown as follows:
wherein,ud 1 ,uq 1 for measuring voltage, each module being a firstdqThe component of the axial force is,ud 2 ,uq 2 of voltage measurement of module two respectivelydqThe axial component of the magnetic flux is,Ris a resistor of the motor and is used as a resistor of the motor,id s ,iq s are respectively asdqThe direct current value of the shaft current is,Ais the magnitude of the harmonic components at high frequencies,ωthe frequencies that are the high-frequency harmonic components,Ld,Lqbeing an inductance of the machinedqThe axial component of the magnetic flux is,ω e is the electric rotating speed of the motor,ψ f is a magnetic linkage of a rotor of the motor,LPFin the form of a low-pass filter,x 1 ~x 6 six new voltage equations.
Optionally, in step 3), solving the new voltage equation set by using a least square method to obtain a functional expression of the observed value of the motor parameter, as shown in the following formula:
in the above formula, the first and second carbon atoms are,θ(k) As a matrix of motor parameters at the present momentθ，θ(k-1) As a matrix of motor parameters at the previous momentθ，K(k) Is the correction gain matrix two at the current time,ε(k) The matrix is estimated for the errors at the current time,y(k) Is the output matrix at the current time instant,
is a feedback matrix for the current time instant,θ est (k-1) as a matrix of motor parameters at the present momentθ，P(k-1) Is the correction gain matrix one at the previous time instant,Idis a matrix of the units,P(k) Is the correction gain matrix one for the current time instant,
are respectively motor inductorsdqThe observed value of the axial component is,
is an observed value of the resistance of the motor,
and the observed value of the motor rotor flux linkage is obtained.
In addition, the invention also provides a modular multi-winding permanent magnet motor parameter identification system based on the least square method, 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 modular multi-winding permanent magnet motor parameter identification method based on the least square method.
In addition, the invention also provides a computer readable storage medium, wherein a computer program programmed or configured to execute the modular multi-winding permanent magnet motor parameter identification method based on the least square method is stored in the computer readable storage medium.
Compared with the prior art, the invention mainly has the following advantages: the invention relates to a modular multi-winding permanent magnet motor parameter identification method based on a least square method, which comprises the steps of injecting high-frequency signals of a torque angle, establishing a voltage equation after high-frequency harmonic components are injected based on the measured voltage and current of each module, obtaining an addition and subtraction combined voltage equation by adding and subtracting the measured voltage of each module, processing sine and cosine signals according to the addition and subtraction combined voltage equation and filtering to obtain a new voltage equation set, solving the new voltage equation set by using the least square method to obtain a motor parameter observed value, solving the problem of real-time on-line identification of multiple parameters of a novel modular multi-winding permanent magnet motor, effectively combining the inherent characteristics of the modular motor, eliminating the influence of the injected high-frequency signals on the torque and the rotating speed of the modular multi-winding permanent magnet motor, and realizing accurate and efficient identification of the multiple parameters of the novel modular multi-winding permanent magnet motor, and a new visual angle way is provided for the efficient high-quality control of the novel modularized multi-winding permanent magnet motor.
Drawings
Fig. 1 is a block diagram of a control structure of a method according to an embodiment of the present invention.
FIG. 2 is a flow chart of a control process of a method according to an embodiment of the present invention.
Fig. 3 is a diagram illustrating a result of identifying parameters of a modular multi-winding permanent magnet motor according to an embodiment of the present invention.
Fig. 4 is a diagram illustrating a result of total harmonic distortion of torque before high-frequency harmonics are injected into the modular multi-winding permanent magnet motor according to the embodiment of the present invention.
Fig. 5 is a diagram illustrating a result of total harmonic distortion of the torque after high-frequency harmonics are injected into the modular multi-winding permanent magnet motor according to the embodiment of the present invention.
Detailed Description
As shown in fig. 1, the method for identifying parameters of a modular multi-winding permanent magnet motor based on a least square method in the embodiment includes:
1) command current generated by speed control loopI ref Averagely distributing the current control loops to each module of the modularized multi-winding permanent magnet motor, and injecting high-frequency harmonic components into the torque control angle of each current control loop of each module; obtaining corresponding voltage instruction values through the current control loops of the modules according to input calculation, and generating switching state quantities through independent SVPWM links respectively to control corresponding driving units;
2) collecting the measured voltage and current of each module of the modularized multi-winding permanent magnet motor;
3) establishing a voltage equation after injecting high-frequency harmonic components based on the measured voltage and current of each module, performing addition and subtraction operation on the measured voltage of each module to obtain an addition and subtraction combined voltage equation, processing sine and cosine signals according to the addition and subtraction combined voltage equation and filtering to obtain a new voltage equation set, and solving the new voltage equation set by using a least square method to obtain a motor parameter observed value.
In this embodiment, the modular multi-winding permanent magnet motor is specifically two motor modules (module one and module two for short), and the instruction current generated by the speed control loop in step 1)I ref The current control loop is averagely distributed to each module of the modularized multi-winding permanent magnet motor, and the command current input by the current control loop of each module isI ref /2。
Referring to FIG. 1, the present embodiment includes stepsWhen the high-frequency harmonic component is injected into the torque control angle of the current control loop of each module in step 1), the high-frequency harmonic component Δ injected by module oneβ 1 And the high-frequency harmonic component Δ of the second injectionβ 2 The phase difference between the two is pi, and the high-frequency harmonic component delta injected by the module Iβ 1 And the high-frequency harmonic component Δ of the second injectionβ 2 The function expression of (a) is as follows:
in the above formula, the first and second carbon atoms are,Ais the magnitude of the high-frequency harmonic components,ωis the frequency of the high-frequency harmonic components,tis time.
In this embodiment, the step 1) of obtaining the corresponding voltage command value through the current control loop of each module according to the input calculation means that PID control is adopted to obtain the corresponding voltage command value according to the input calculation, and in addition, other closed-loop control algorithms may be adopted as needed, which is not described herein.
In this embodiment, the functional expression of the corresponding voltage command value obtained by the current control loop of each module in step 1) according to the input calculation is:
in the above-mentioned formula, the compound has the following structure,u ref α12 ,u ref β12 of voltage command values of module one or module two respectivelyαβThe axial component of the magnetic flux is,u ref q12 ,u ref q12 of voltage command values of module one or module two respectivelydqThe axial component of the magnetic flux is,θ e is the motor position angle.
In this embodiment, step 2) includes: the three-phase voltage and current of each module of the modularized multi-winding permanent magnet motor are collected, and the voltage and current of the first module are obtained through coordinate transformationMeasuring currentdqAxial componentid 1 ,iq 1 Measuring the voltagedqAxial componentud 1 ,uq 1 Of module two measuring currentdqAxial componentid 2 ,iq 2 Measuring voltagedqAxial componentud 2 ,uq 2 . Wherein, the function expression of the coordinate transformation is as follows:
in the above formula, the first and second carbon atoms are,θ e is the position angle of the motor and is,ia 12 ,ib 12 ,ic 12 three-phase current of the module I or the module II respectively,ua 12 , ub 12 ,uc 12 the three-phase voltage of the module I or the module II respectively.
In this embodiment, the functional expression of the voltage equation after injecting the high-frequency harmonic component is established based on the measured voltage and current of each module in step 3) is shown as follows:
in the above formula, the first and second carbon atoms are,ud 1 ,uq 1 for measuring voltage, each module being a firstdqThe axial component of the magnetic flux is,ud 2 ,uq 2 of voltage measurement of module two respectivelydqThe axial component of the magnetic flux is,Ris a resistor of the motor and is used as a resistor of the motor,id s ,iq s are respectively asdqThe direct current value of the shaft current is,Ais the magnitude of the harmonic components at high frequencies,ωthe frequencies that are the high-frequency harmonic components,tas a matter of time, the time is,Ld,Lqbeing an inductance of the machinedqThe axial component of the magnetic flux is,ω e is the electric rotating speed of the motor,ψ f is a motor rotor flux linkage.
In this embodiment, the functional expression of the addition and subtraction combined voltage equation obtained by performing addition and subtraction on the measured voltages of the modules in step 3) is shown as follows:
in the above formula, the first and second carbon atoms are,ud 1 ,uq 1 for measuring voltage, each module being a firstdqThe axial component of the magnetic flux is,ud 2 ,uq 2 of voltage measurement of module two respectivelydqThe axial component of the magnetic flux is,Ris a resistor of the motor and is used as a resistor of the motor,id s ,iq s are respectively asdqThe direct current value of the shaft current is,Ais the magnitude of the harmonic components at high frequencies,ωthe frequencies that are the high-frequency harmonic components,tas a matter of time, the time is,Ld,Lqbeing an inductance of the machinedqThe axial component of the magnetic flux is,ω e is the electric rotating speed of the motor,ψ f is a motor rotor flux linkage.
In this embodiment, the function expression of the new voltage equation set obtained by processing and filtering the sine signal and the cosine signal for the addition and subtraction combined voltage equation in step 3) is shown as follows:
and the functional expression of the new voltage equation set written in matrix form is shown as follows:
wherein,ud 1 ,uq 1 of the voltage measurement of a module one respectivelydqThe axial component of the magnetic flux is,ud 2 ,uq 2 of voltage measurement of module two respectivelydqThe axial component of the magnetic flux is,Ris a resistor of the motor and is used as a resistor of the motor,id s ,iq s are respectively asdqThe direct current value of the shaft current is,Ais the magnitude of the harmonic components at high frequencies,ωthe frequencies that are the high-frequency harmonic components,Ld,Lqbeing an inductance of the machinedqThe axial component of the magnetic flux is,ω e is the electric rotating speed of the motor,ψ f is a magnetic linkage of a rotor of the motor,LPFin the form of a low-pass filter,x 1 ~x 6 six new voltage equations.
In this embodiment, in step 3), solving the new voltage equation set by using a least square method to obtain a functional expression of the observed value of the motor parameter, as shown in the following formula:
in the above formula, the first and second carbon atoms are,θ(k) As a matrix of motor parameters at the present momentθ，θ(k-1) As a matrix of motor parameters at the previous momentθ，K(k) Is the correction gain matrix two at the current time,ε(k) The matrix is estimated for the errors at the current time,y(k) Is the output matrix at the current time instant,
is a feedback matrix for the current time instant,θ est (k-1) as a matrix of motor parameters at the present momentθ，P(k-1) Is the correction gain matrix one at the previous time instant,Idis a matrix of the units,P(k) Is the correction gain matrix one for the current time instant,
are respectively motor inductorsdqThe observed value of the axial component is,
is an observed value of the resistance of the motor,
and the observed value of the motor rotor flux linkage is obtained.
Finally, the observation results of the parameters of the modular multi-winding permanent magnet motor obtained by the modular multi-winding permanent magnet motor parameter identification method based on the least square method are shown in fig. 3, and the results of the total harmonic distortion of the torque of the modular multi-winding permanent magnet motor before and after the high-frequency signal of the torque angle is injected are shown in fig. 4 and fig. 5. As can be seen from fig. 3, 4 and 5, the parameter identification result of the modular multi-winding permanent magnet motor parameter identification method based on the least square method according to the present embodiment can be rapidly converged, and the error between the parameter identification result and the true value is within an acceptable range, whereas the total harmonic distortion of the torque does not change significantly after the high-frequency signal of the torque angle is injected into the modular multi-winding permanent magnet motor adopting the modular multi-winding permanent magnet motor parameter identification method based on the least square method according to the present embodiment. In summary, the present embodiment discloses a method for identifying parameters of a modular multi-winding permanent magnet motor based on a least square method, in which a cascaded PI controller is adopted in the modular multi-winding permanent magnet motor system, a current instruction generated by a speed control loop is averagely distributed to current control loops of two motor modules, high-frequency sinusoidal signals with different phases are respectively injected into torque angles of the current speed loops of the two motor modules, and a generated voltage instruction controls the modular motor through two independent SVPWM links. And extracting high-frequency signals to obtain a new equation and calculating by using a least square method to obtain system parameters of the modularized multi-winding permanent magnet motor. Compared with the traditional permanent magnet synchronous motor parameter identification method, the method meets the requirement of parameter identification of a novel modularized multi-winding permanent magnet motor system, reduces torque pulsation caused by high-frequency sinusoidal signal injection, and eliminates errors caused by harmonic current components in the motor control process to parameter identification.
In addition, the present embodiment further provides a system for identifying parameters of a modular multi-winding permanent magnet motor based on a least square method, which includes a microprocessor and a memory connected to each other, where the microprocessor is programmed or configured to perform the steps of the method for identifying parameters of a modular multi-winding permanent magnet motor based on a least square method.
In addition, the present embodiment also provides a computer readable storage medium, in which a computer program programmed or configured to execute the foregoing modular multi-winding permanent magnet motor parameter identification method based on the least square method 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 (7)
1. A modular multi-winding permanent magnet motor parameter identification method based on a least square method is characterized by comprising the following steps:
1) command current generated by speed control loopI ref Averagely distributing the current control loops to each module of the modularized multi-winding permanent magnet motor, and injecting high-frequency harmonic components into the torque control angle of each current control loop of each module; obtaining corresponding voltage instruction values through the current control loops of all the modules according to input calculation, and generating switching state quantities through independent SVPWM links respectively to control corresponding driving units;
2) collecting the measured voltage and current of each module of the modularized multi-winding permanent magnet motor;
3) establishing a voltage equation injected with high-frequency harmonic components based on the measured voltage and current of each module, performing addition and subtraction operation on the measured voltage of each module to obtain an addition and subtraction combined voltage equation, processing sine and cosine signals according to the addition and subtraction combined voltage equation and filtering to obtain a new voltage equation set, and solving the new voltage equation set by using a least square method to obtain a motor parameter observed value; in the step 3), a function expression of a voltage equation after the high-frequency harmonic component is injected is established based on the measured voltage and current of each module, and is shown as the following formula:
in the above-mentioned formula, the compound has the following structure,ud 1 ,uq 1 for measuring voltage, each module being a firstdqThe axial component of the magnetic flux is,ud 2 ,uq 2 of voltage measurement of module two respectivelydqThe axial component of the magnetic flux is,Ris a resistor of the motor and is used as a resistor of the motor,id s ,iq s are respectively asdqThe direct current value of the shaft current is,Ais the magnitude of the high-frequency harmonic components,ωis the frequency of the high-frequency harmonic components,tas a matter of time, the time is,Ld,Lqbeing an inductance of the machinedqThe axial component of the magnetic flux is,ω e is the electric rotating speed of the motor,ψ f a motor rotor flux linkage;in step 3), a function expression of an addition and subtraction combined voltage equation obtained by performing addition and subtraction on the measured voltage of each module is shown as the following formula:
in the above formula, the first and second carbon atoms are,ud 1 ,uq 1 for measuring voltage, each module being a firstdqThe axial component of the magnetic flux is,ud 2 ,uq 2 of voltage measurement of module two respectivelydqThe axial component of the magnetic flux is,Ris a resistor of the motor and is used as a resistor of the motor,id s ,iq s are respectively asdqThe direct current value of the shaft current is,Ais the magnitude of the harmonic components at high frequencies,ωthe frequencies that are the high-frequency harmonic components,tas a matter of time, the time is,Ld,Lqbeing an inductance of the machinedqThe axial component of the magnetic flux is,ω e is the electric rotating speed of the motor,ψ f a motor rotor flux linkage; in step 3), the function expression of a new voltage equation set obtained by processing and filtering the sine and cosine signals for the addition and subtraction combined voltage equation is shown as the following formula:
and the functional expression of the new voltage equation set written in matrix form is shown as follows:
wherein,ud 1 ,uq 1 for measuring voltage, each module being a firstdqThe axial component of the magnetic flux is,ud 2 ,uq 2 of voltage measurement of module two respectivelydqThe axial component of the magnetic flux is,Ris a resistor of the motor and is used as a resistor of the motor,id s ,iq s are respectively asdqThe direct current value of the shaft current is,Ais the magnitude of the harmonic components at high frequencies,ωthe frequencies that are the high-frequency harmonic components,Ld,Lqbeing inductance of electric machinesdqThe axial component of the magnetic flux is,ω e is the electric rotating speed of the motor,ψ f is a magnetic linkage of a rotor of the motor,LPFin the form of a low-pass filter,x 1 ~x 6 six new voltage equations.
2. The method for identifying the parameters of the modular multi-winding permanent magnet motor based on the least square method as claimed in claim 1, wherein when the high-frequency harmonic component is injected into the torque control angle of the current control loop of each module in the step 1), the high-frequency harmonic component Δ injected into the first module isβ 1 And the high-frequency harmonic component Δ of the second injectionβ 2 The phase difference between the two is pi, and the high-frequency harmonic component delta injected by the module Iβ 1 And the high-frequency harmonic component Δ of the second injectionβ 2 The function expression of (a) is as follows:
in the above formula, the first and second carbon atoms are,Ais the magnitude of the high-frequency harmonic components,ωthe frequencies that are the high-frequency harmonic components,tis time.
3. The modular multi-winding permanent magnet motor parameter identification method based on the least square method of claim 1, wherein the step 1) of obtaining the corresponding voltage command value through the current control loop of each module according to input calculation means obtaining the corresponding voltage command value through PID control according to input calculation.
4. The modular multi-winding permanent magnet motor parameter identification method based on the least square method as claimed in claim 1, wherein the step 2) comprises: collecting three-phase voltage and current of each module of modularized multi-winding permanent magnet motor, and obtaining measurement current of module I through coordinate transformationdqAxial componentid 1 ,iq 1 Measuring voltagedqAxial componentud 1 ,uq 1 Of module two measuring currentdqAxial componentid 2 ,iq 2 Measuring voltagedqAxial componentud 2 ,uq 2 。
5. A modular multi-winding permanent magnet motor parameter identification method based on a least square method according to claim 1, wherein in the step 3), the new voltage equation set is solved by a least square method to obtain a functional expression of motor parameter observed values, which is shown as the following formula:
in the above formula, the first and second carbon atoms are,θ(k) As a motor parameter matrix at the current timeθ，θ(k-1) As a matrix of motor parameters at the previous momentθ，K(k) Is the correction gain matrix two at the current time,ε(k) The matrix is estimated for the errors at the current time,y(k) Is the output matrix at the current time instant,
is a feedback matrix for the current time instant,θ est (k-1) as a matrix of motor parameters at the present momentθ，P(k-1) Is the correction gain matrix one at the previous time instant,Idis a matrix of the units,P(k) Is the correction gain matrix one for the current time instant,
are respectively motor inductorsdqThe observed value of the axial component is,
is an observed value of the resistance of the motor,
and the observed value of the motor rotor flux linkage is obtained.
6. A modular multi-winding permanent magnet motor parameter identification system based on a least square method, comprising a microprocessor and a memory connected to each other, wherein the microprocessor is programmed or configured to perform the steps of the modular multi-winding permanent magnet motor parameter identification method based on a least square method of any one of claims 1 to 5.
7. A computer-readable storage medium having stored thereon a computer program programmed or configured to perform the method of least squares based modular multi-winding permanent magnet machine parameter identification according to any one of claims 1 to 5.
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