CN117997208B - Method and device for estimating rotating speed of permanent magnet synchronous motor, electronic equipment and storage medium - Google Patents
Method and device for estimating rotating speed of permanent magnet synchronous motor, electronic equipment and storage medium Download PDFInfo
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Abstract
The application discloses a method, a device, electronic equipment and a storage medium for estimating the rotating speed of a permanent magnet synchronous motor, wherein the method and the device are applied to the electronic equipment, and particularly acquire a plurality of nominal parameters, monitoring parameters and control parameters of the permanent magnet synchronous motor, wherein the control parameters are the observation bandwidth or sampling period of the permanent magnet synchronous motor; and solving a speed estimation model constructed based on an improved motor motion equation considering system disturbance based on the nominal parameter, the monitoring parameter and the control parameter to obtain a speed estimation value of the permanent magnet synchronous motor. The scheme gets rid of direct dependence on the current sensor in the process of estimating the rotating speed of the motor, and avoids the problem of larger error of the speed estimation value caused by poor accuracy of the current signal output by the current sensor. In addition, the scheme of the application also overcomes the influence of uncertainty disturbance existing in the system on the rotation speed estimation, and improves the accuracy and the robustness of the estimation of the rotation speed of the permanent magnet synchronous motor.
Description
Technical Field
The present application relates to the field of motor technologies, and in particular, to a method and apparatus for estimating a rotational speed of a permanent magnet synchronous motor, an electronic device, and a storage medium.
Background
In the running process of the permanent magnet synchronous motor, accurate rotating speed information is often required to be obtained in real time for the purpose of accurately controlling the rotating speed of the permanent magnet synchronous motor. The existing speed estimation scheme generally uses a current sensor to collect a current signal related to real-time rotation speed, then uses a position decoding chip to process the current signal to obtain a rotor position, and finally obtains the rotation speed information based on differential processing of the rotor position. However, the current sensor is easily interfered by external uncertainty factors, so that the accuracy of the current signal output by the current sensor is poor, and the error of the finally obtained speed estimated value is large.
Disclosure of Invention
In view of the above, the present application provides a method, an apparatus, an electronic device, and a storage medium for estimating a rotational speed of a permanent magnet synchronous motor, which are used for estimating rotational speed information of the permanent magnet synchronous motor to obtain a rotational speed estimation value with higher accuracy.
In order to achieve the above object, the following solutions have been proposed:
The rotational speed estimation method of the permanent magnet synchronous motor is applied to electronic equipment and comprises the following steps of:
acquiring a plurality of nominal parameters, monitoring parameters and control parameters of the permanent magnet synchronous motor, wherein the control parameters are the observation bandwidth or sampling period of the permanent magnet synchronous motor;
And solving a speed estimation model constructed based on an improved motor motion equation considering system disturbance based on the nominal parameter, the monitoring parameter and the control parameter to obtain a speed estimation value of the permanent magnet synchronous motor.
Optionally, the improved motor motion equation is:
Wherein T ref represents the actual effective torque value of the permanent magnet synchronous motor output outwards and meets the following requirements Omega m is the mechanical angular velocity of the permanent magnet synchronous motor, J 0 is the nominal rotational inertia value of the permanent magnet synchronous motor, B 0 is the nominal damping coefficient of the permanent magnet synchronous motor, delta J 0 is the variation of the actual rotational inertia of the permanent magnet synchronous motor relative to the nominal rotational inertia value, delta B 0 is the variation of the actual damping coefficient of the permanent magnet synchronous motor relative to the nominal damping coefficient, and f represents the real disturbance quantity which exists in the motion system of the permanent magnet synchronous motor and is difficult to model.
Optionally, the solving process for the velocity estimation model constructed based on the improved motor motion equation considering the system disturbance based on the nominal parameter, the monitoring parameter and the control parameter includes the following steps:
Solving a first rotational speed estimation model based on the nominal parameter, the monitoring parameter and the observation bandwidth to obtain the rotational speed estimation value;
Or solving the second rotating speed estimation model based on the nominal parameter, the monitoring parameter and the sampling period to obtain the rotating speed estimation value.
Optionally, the first rotational speed estimation model is:
Wherein omega m is the mechanical angular speed of the permanent magnet synchronous motor, For the rotation speed estimated value, J 0 is the nominal rotation inertia value of the permanent magnet synchronous motor, B 0 is the nominal damping coefficient of the permanent magnet synchronous motor, T ref is the actual effective torque value output by the permanent magnet synchronous motor,The estimated value of the actual effective torque value, k ω is the rotating speed feedback coefficient of the first rotating speed estimation model, and k T is the torque feedback coefficient of the first rotating speed estimation model;
And, in addition, the method comprises the steps of, K T＝(ωo)2J0, wherein ω o is the observation bandwidth.
Optionally, the second rotational speed estimation model is:
Wherein, For the rotation speed estimation value, J 0 is a nominal rotation inertia value of the permanent magnet synchronous motor, B 0 is a nominal damping coefficient of the permanent magnet synchronous motor, ω m (ref) is a reference value of the rotation speed of the permanent magnet synchronous motor, ω m (k-1) is a mechanical angular velocity of the permanent magnet synchronous motor at a time before k time, and T s is the sampling period.
Optionally, the solving process for constructing a preset speed estimation model based on an improved motor motion equation considering system disturbance based on the nominal parameter of the motor parameter, the monitored parameter and the control parameter further includes the steps of:
Processing the rotation speed estimated value based on a current calculation formula to obtain bus current of the permanent magnet synchronous motor, wherein the current calculation formula is as follows:
wherein u dc (k) represents the bus voltage value of the permanent magnet synchronous motor at the moment k, As an estimate of the actual effective torque value of the permanent magnet synchronous motor at time k,And the rotation speed estimated value is obtained.
A rotational speed estimation device of a permanent magnet synchronous motor, applied to an electronic device, comprising:
The parameter acquisition module is configured to acquire a plurality of nominal parameters and control parameters of the permanent magnet synchronous motor, wherein the control parameters are observation bandwidths or sampling periods of the permanent magnet synchronous motor;
and the estimation execution module is configured to solve a speed estimation model constructed based on an improved motor motion equation considering system disturbance based on the nominal parameter, the monitoring parameter and the control parameter, so as to obtain a rotation speed estimation value of the permanent magnet synchronous motor.
The improved motor motion equation is as follows:
Wherein T ref represents the actual effective torque value of the permanent magnet synchronous motor output outwards and meets the following requirements Omega m is the mechanical angular velocity of the permanent magnet synchronous motor, J 0 is the nominal rotational inertia value of the permanent magnet synchronous motor, B 0 is the nominal damping coefficient of the permanent magnet synchronous motor, delta J 0 is the variation of the actual rotational inertia of the permanent magnet synchronous motor relative to the nominal rotational inertia value, delta B 0 is the variation of the actual damping coefficient of the permanent magnet synchronous motor relative to the nominal damping coefficient, and f represents the real disturbance quantity which exists in the motion system of the permanent magnet synchronous motor and is difficult to model.
Optionally, the estimation execution module includes:
the first estimation unit is configured to solve a first rotational speed estimation model based on the nominal parameter, the monitoring parameter and the observation bandwidth to obtain the rotational speed estimation value;
And the second estimation unit is configured to solve a second rotating speed estimation model based on the nominal parameter, the monitoring parameter and the sampling period to obtain the rotating speed estimation value.
Optionally, the first rotational speed estimation model is:
Wherein omega m is the mechanical angular speed of the permanent magnet synchronous motor, For the rotation speed estimated value, J 0 is the nominal rotation inertia value of the permanent magnet synchronous motor, B 0 is the nominal damping coefficient of the permanent magnet synchronous motor, T ref is the actual effective torque value output by the permanent magnet synchronous motor,The estimated value of the actual effective torque value, k ω is the rotating speed feedback coefficient of the first rotating speed estimation model, and k T is the torque feedback coefficient of the first rotating speed estimation model;
And, in addition, the method comprises the steps of, K T＝(ωo)2J0, wherein ω o is the observation bandwidth.
Optionally, the second rotational speed estimation model is:
Wherein, For the rotation speed estimation value, J 0 is a nominal rotation inertia value of the permanent magnet synchronous motor, B 0 is a nominal damping coefficient of the permanent magnet synchronous motor, ω m (ref) is a reference value of a mechanical angular velocity of the permanent magnet synchronous motor, ω m (k-1) is a mechanical angular velocity of the permanent magnet synchronous motor at a time preceding a k time, and T s is the sampling period.
Optionally, the estimation execution module further includes:
The third estimation unit is configured to process the rotation speed estimation value based on a current calculation formula to obtain bus current of the permanent magnet synchronous motor, wherein the current calculation formula is as follows:
wherein u dc (k) represents the bus voltage value of the permanent magnet synchronous motor at the moment k, As an estimate of the actual effective torque value of the permanent magnet synchronous motor at time k,And the rotation speed estimated value is obtained.
An electronic device for use with a permanent magnet synchronous motor, the electronic device comprising at least one processor and a memory coupled to the processor, wherein:
The memory is used for storing a computer program or instructions;
The processor is configured to execute the computer program or instructions to cause the electronic device to implement the rotational speed estimation method as described above.
A storage medium for application to an electronic device, the storage medium carrying one or more computer programs executable by the electronic device to cause the electronic device to implement a method of rotational speed estimation as described above.
From the above technical scheme, the application discloses a method, a device, an electronic device and a storage medium for estimating the rotating speed of a permanent magnet synchronous motor, wherein the method and the device are applied to the electronic device, and particularly, a plurality of nominal parameters, monitoring parameters and control parameters of the permanent magnet synchronous motor are acquired, and the control parameters are the observation bandwidth or the sampling period of the permanent magnet synchronous motor; and solving a speed estimation model constructed based on an improved motor motion equation considering system disturbance based on the nominal parameter, the monitoring parameter and the control parameter to obtain a speed estimation value of the permanent magnet synchronous motor. The scheme gets rid of direct dependence on the current sensor in the process of estimating the rotating speed of the motor, and avoids the problem of larger error of the speed estimation value caused by poor accuracy of the current signal of the current sensor.
In addition, the scheme of the application also overcomes the influence of uncertainty disturbance existing in the system on the rotation speed estimation, and improves the accuracy and the robustness of the estimation of the rotation speed of the permanent magnet synchronous motor.
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In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a double-ring control diagram of a permanent magnet synchronous motor;
Fig. 2 is a flowchart of a method for estimating a rotational speed of a permanent magnet synchronous motor according to an embodiment of the present application;
fig. 3 is a flowchart of another method for estimating the rotational speed of a permanent magnet synchronous motor according to an embodiment of the present application;
fig. 4 is a block diagram of a rotational speed estimation device of a permanent magnet synchronous motor according to an embodiment of the present application;
fig. 5 is a block diagram of a rotational speed estimation device of another permanent magnet synchronous motor according to an embodiment of the present application;
fig. 6 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The control system of the permanent magnet synchronous motor is mainly divided into a speed ring and a torque ring, as shown in fig. 1. It can be seen that the speed loop needs to obtain the real-time rotation speed based on the speed detection of the permanent magnet synchronous motor, and control based on the real-time rotation speed and the reference rotation speed.
In general, the equation of motion of a permanent magnet synchronous motor can be expressed as:
Wherein T e and T L are respectively the electromagnetic torque and the load torque of the permanent magnet synchronous motor; omega m is the mechanical angular velocity of the permanent magnet synchronous motor; j is the rotational inertia of the permanent magnet synchronous motor; and B is the damping coefficient of the permanent magnet synchronous motor. It should be noted that, as the number of years of operation and the operating state of the permanent magnet synchronous motor increase, both the moment of inertia J and the damping coefficient B change, and in addition, the disturbance amount which exists in the motion system of the permanent magnet synchronous motor and is difficult to model is not represented in equation (1).
In order to solve the disturbance problem, the application provides a more accurate motion equation of the permanent magnet synchronous motor, wherein the specific equation is as follows:
Wherein J 0 is a nominal rotational inertia value of the permanent magnet synchronous motor, δj 0 is a variation of the actual rotational inertia J relative to the nominal rotational inertia value, and j=j 0+δJ0.B0 is a nominal damping coefficient of the permanent magnet synchronous motor; δb 0 is the variation of the actual damping coefficient from the nominal damping coefficient, and satisfies b=b 0+δB0; f represents the truly existing and difficult-to-model disturbance quantity in the motion system of the permanent magnet synchronous motor.
The equation (2) is simply transformed to obtain an improved motor motion equation of the permanent magnet synchronous motor, and the motion equation considers system disturbance and is specifically as follows:
Wherein T ref represents an actual effective torque value of the permanent magnet synchronous motor to be output outwards, and also represents an input value of a torque ring of the permanent magnet synchronous motor, and the requirements are as follows:
In the application, the nominal parameter of the permanent magnet synchronous motor is adopted as the equation parameter of the improved motor motion equation, and the system disturbance is considered, and the nominal parameter source is clear and cannot change along with the working condition, so that the realization means for realizing the rotation speed estimation through the improved motor motion equation is simpler, and the rotation speed estimation difficulty is reduced.
The present application proposes the following specific embodiments based on the above equations. Fig. 2 is a flowchart of a method for estimating a rotational speed of a permanent magnet synchronous motor according to an embodiment of the present application.
As shown in fig. 2, the rotation speed estimation method provided in this embodiment is applied to an electronic device that controls a permanent magnet synchronous motor, and is used for performing an operation based on a related parameter obtained from the permanent magnet synchronous motor so as to obtain a relatively accurate rotation speed estimation value, where the electronic device may be understood as a computer, a controller, or an embedded device, and specifically includes the following steps:
s1, acquiring a plurality of nominal parameters, monitoring parameters and control parameters of the permanent magnet synchronous motor.
I.e. a plurality of nominal parameters and control parameters are collected from a control device for controlling the permanent magnet synchronous motor. The nominal parameters here include a nominal rotational inertia value and a nominal damping coefficient of the permanent magnet synchronous motor, and the monitoring parameters are real-time parameters obtained by monitoring the permanent magnet synchronous motor in real time through a certain method, for example, mechanical angular velocity obtained by detecting the rotational speed of the permanent magnet synchronous motor according to a sensor. The control parameter refers to one or both of an observation bandwidth and a sampling period when the permanent magnet synchronous motor is controlled.
And S2, solving the speed estimation model based on the nominal parameters, the monitoring parameters and the control parameters.
And solving the speed estimation model based on a plurality of nominal parameters and control parameters to obtain the speed estimation value of the permanent magnet synchronous motor. The speed estimation model in the present application is constructed based on the above-described formula (3) and formula (4), and is a first rotational speed estimation model and a second rotational speed estimation model, respectively, which are applicable to the following two embodiments, as shown in fig. 3.
S201: and solving the first rotational speed estimation model based on the nominal parameter, the monitoring parameter and the observation bandwidth to obtain a rotational speed estimation value.
In combination with the above formula (4), the formula (3) can be rewritten as:
And constructing a model based on the formula to obtain the first rotational speed estimation model, wherein the model is specifically as follows:
In the middle of Represents the rotational speed estimated value of the permanent magnet synchronous motor,An estimated value of an actual effective torque value of the permanent magnet synchronous motor is represented, and is also an estimated value of an input value of a torque loop, k ω represents a rotational speed feedback coefficient of the first rotational speed estimation model, and k T represents a torque feedback coefficient of the first rotational speed estimation model.
Subtracting the first rotational speed estimation model from equation (5) may result in the following equation.
In order to ensure the speed observation effect of the permanent magnet synchronous motor, the error e between the observation value and the actual value of the observation system gradually and stably approaches zero, and the characteristic value of A is only required to be a negative value by utilizing the theoretical knowledge of the stability of the linear system.
Assuming that the observation bandwidth of the system is omega o, which is a positive number, the current can be obtainedWhen k T＝(ωo)2J0 is carried out, the characteristic value of A is minus omega o, so that the accurate estimation of the rotating speed of the permanent magnet synchronous motor can be ensured theoretically.
Based on this, it is possible toK T＝(ωo)2J0 and the mechanical angular speed omega m of the permanent magnet synchronous motor are substituted into a first rotational speed estimation model and solved, and the rotational speed estimation value of the permanent magnet synchronous motor can be obtainedAnd also can obtain the estimated value of the actual effective torque value of the permanent magnet synchronous motor
In addition, the rotation speed estimated value of the permanent magnet synchronous motor is obtainedAnd an estimate of its actual effective torque valueOn the basis of (3). Under the condition of not adding too much calculation amount, the bus current i dc (k) of the permanent magnet synchronous motor can be obtained through simple operation, and the specific calculation formula is as follows:
In the formula, u dc (k) represents the acquired bus voltage value at the time k, As an estimate of the actual effective torque value at time k of the permanent magnet synchronous motor,The estimated value of the rotation speed at the k moment of the permanent magnet synchronous motor.
And S202, solving the second rotating speed estimation model based on the nominal parameter, the monitoring parameter and the sampling period to obtain a rotating speed estimation value.
In this embodiment, the discretization processing may be performed on the formula (3) in combination with the formula (4), and the following equation may be obtained:
In equation (8), T s represents a speed sampling period, which is typically in the order of milliseconds, where ω m (k) represents the mechanical angular velocity at time k, and ω m (k+1) represents the mechanical angular velocity at time (k+1), or the mechanical angular velocity at the next time of time k.
In practical implementation, it is generally considered that the actual effective torque value T ref output by the permanent magnet synchronous motor in two adjacent speed sampling periods does not change, namely:
Tref(k)＝Tref(k-1) (9)
Further, recursive deformation of formula (8) can be obtained:
By combining the formulas (8), (9) and (10), the following formula can be obtained:
Based on the principle of dead beat speed predictive control, the following formula can be obtained:
ωm(k+1)＝ωm(ref) (12)
wherein, ω m (ref) in the formula (12) represents a reference value of the mechanical angular velocity of the permanent magnet synchronous motor, and a specific numerical value is generally given by the whole vehicle controller.
By the simultaneous equations (11) and (12), the following second rotational speed estimation model can be obtained, specifically as follows:
The reference value omega m (ref) of the mechanical angular velocity in the model is generally given by the controller of the motor. In addition, the mechanical angular velocity omega m (k-1) at the time of k-1 is obtained based on the historical data stored in the controller of the permanent magnet synchronous motor.
The rotation speed estimated value of the permanent magnet synchronous motor at the moment k can be obtained by solving the second rotation speed estimated modelIt can be seen from the second rotational speed estimation model that the rotational speed estimation value can be obtained only by the nominal rotational inertia value, the nominal damping coefficient, the speed sampling period and the historical data stored in the system of the permanent magnet synchronous motor in the process of calculating the rotational speed estimation value, so that compared with the process of monitoring the real-time parameters of the motor, the method has the advantages that the parameters are simpler and easier to obtain from the historical data, and the difficulty of the rotational speed estimation based on the parameters is correspondingly lower. In addition, the calculation process is simple, so that the method is more suitable for embedded deployment and engineering landing.
From the above technical scheme, the application provides a method for estimating the rotation speed of a permanent magnet synchronous motor, which is applied to electronic equipment, and specifically obtains a plurality of nominal parameters, monitoring parameters and control parameters of the permanent magnet synchronous motor, wherein the control parameters are the observation bandwidth or sampling period of the permanent magnet synchronous motor; and solving a speed estimation model constructed based on an improved motor motion equation considering system disturbance based on the nominal parameter, the monitoring parameter and the control parameter to obtain a speed estimation value of the permanent magnet synchronous motor. The scheme gets rid of direct dependence on the current sensor in the process of estimating the rotating speed of the motor, and avoids the problem of larger error of the speed estimation value caused by poor accuracy of the current signal output by the current sensor.
In addition, the scheme of the application also overcomes the influence of uncertainty disturbance existing in the system on the rotation speed estimation, and improves the accuracy and the robustness of the estimation of the rotation speed of the permanent magnet synchronous motor.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Although operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous.
It should be understood that the various steps recited in the method embodiments of the present disclosure may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including, but not limited to, an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the C-language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of remote computers, the remote computer may be connected to the user computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer.
Fig. 4 is a block diagram of a rotational speed estimation device of a permanent magnet synchronous motor according to an embodiment of the present application.
As shown in fig. 4, the rotation speed estimation device provided in this embodiment is applied to an electronic device for controlling a permanent magnet synchronous motor, and is used for performing an operation based on a related parameter obtained from the permanent magnet synchronous motor so as to obtain a relatively accurate rotation speed estimation value, where the electronic device may be understood as a computer, a controller or an embedded device, and the device specifically includes a parameter acquisition module 10 and an estimation execution module 20.
The parameter acquisition module is used for acquiring a plurality of nominal parameters, monitoring parameters and control parameters of the permanent magnet synchronous motor.
I.e. a plurality of nominal parameters and control parameters are collected from a control device for controlling the permanent magnet synchronous motor. The nominal parameters here include a nominal rotational inertia value and a nominal damping coefficient of the permanent magnet synchronous motor, and the monitoring parameters are real-time parameters obtained by monitoring the permanent magnet synchronous motor in real time through a certain method, for example, mechanical angular velocity obtained by detecting the rotational speed of the permanent magnet synchronous motor according to a sensor. The control parameter refers to one or both of an observation bandwidth and a sampling period when the permanent magnet synchronous motor is controlled.
The estimation execution module is used for solving the speed estimation model based on the nominal parameter, the monitoring parameter and the control parameter,
And solving the speed estimation model based on a plurality of nominal parameters, monitoring parameters and control parameters to obtain the speed estimation value of the permanent magnet synchronous motor. The speed estimation model in the present application is constructed based on the above-described formula (3) and formula (4), respectively, as a first rotational speed estimation model and a second rotational speed estimation model, based on which the estimation execution module includes a first estimation unit 21, a second estimation unit 22, and a third estimation unit 23, as shown in fig. 5.
In combination with the above formula (4), the formula (3) can be rewritten as:
And constructing a model based on the formula to obtain the first rotational speed estimation model, wherein the model is specifically as follows:
In the middle of A rotational speed estimate representing the mechanical angular velocity of the permanent magnet synchronous motor,An estimated value of an actual effective torque value of the permanent magnet synchronous motor is represented, and is also an estimated value of an input value of a torque loop, k ω represents a rotational speed feedback coefficient of the first rotational speed estimation model, and k T represents a torque feedback coefficient of the first rotational speed estimation model.
Subtracting the first rotational speed estimation model from equation (5) may result in the following equation.
In order to ensure the speed observation effect of the permanent magnet synchronous motor, the error e between the observation value and the actual value of the observation system gradually and stably approaches zero, and the characteristic value of A is only required to be a negative value by utilizing the theoretical knowledge of the stability of the linear system.
Assuming that the observation bandwidth of the system is omega o, which is a positive number, the current can be obtainedWhen k T＝(ωo)2J0 is carried out, the characteristic value of A is minus omega o, so that the accurate estimation of the rotating speed of the permanent magnet synchronous motor can be ensured theoretically.
Based on this, it is possible toK T＝(ωo)2J0 and the mechanical angular speed omega m of the permanent magnet synchronous motor are substituted into a first rotational speed estimation model, and are solved based on a first estimation unit, so that a rotational speed estimation value of the permanent magnet synchronous motor can be obtainedAnd also can obtain the estimated value of the actual effective torque value of the permanent magnet synchronous motor
In this embodiment, the discretization processing may be performed on the formula (3) in combination with the formula (4), and the following equation may be obtained:
In equation (8), T s represents a speed sampling period, which is typically in the order of milliseconds, where ω m (k) represents the mechanical angular velocity at time k, and ω m (k+1) represents the mechanical angular velocity at time (k+1), or the mechanical angular velocity at the next time of time k.
In practical implementation, it is generally considered that the actual effective torque value T ref output by the permanent magnet synchronous motor in two adjacent speed sampling periods does not change, namely:
Tref(k)＝Tref(k-1) (9)
Further, recursive deformation of formula (8) can be obtained:
By combining the formulas (8), (9) and (10), the following formula can be obtained:
Based on the principle of dead beat speed predictive control, the following formula can be obtained:
ωm(k+1)＝ωm(ref) (12)
Wherein ω m (ref) in the formula (12) represents a reference value of the mechanical angular velocity, and a specific numerical value is generally given by the whole vehicle controller.
By the simultaneous equations (11) and (12), the following second rotational speed estimation model can be obtained, specifically as follows:
The reference value omega m (ref) of the mechanical angular velocity in the model is generally given by the controller of the motor. In addition, the mechanical angular velocity omega m (k-1) at the time of k-1 is obtained based on the historical data stored in the controller of the permanent magnet synchronous motor.
The second estimation unit is used for solving a second rotation speed estimation model to obtain the rotation speed estimation value of the permanent magnet synchronous motor at the k momentIt can be seen from the second rotational speed estimation model that the rotational speed estimation value can be obtained only by the nominal rotational inertia value, the nominal damping coefficient, the speed sampling period and the historical data stored in the system of the permanent magnet synchronous motor in the process of calculating the rotational speed estimation value, so that compared with the process of monitoring the real-time parameters of the motor, the method has the advantages that the parameters are simpler and easier to obtain from the historical data, and the difficulty of the rotational speed estimation based on the parameters is correspondingly lower. In addition, the calculation process is simple, so that the method is more suitable for embedded deployment and engineering landing.
In addition, the first estimation unit is utilized to obtain the rotation speed estimation value of the permanent magnet synchronous motorAnd an estimate of its actual effective torque valueOn the basis of (a), the bus current i dc (k) of the permanent magnet synchronous motor can be obtained through simple operation without adding too much calculation amount, and the third estimation unit is used for calculating through the following calculation formula, so as to obtain the bus current i dc (k):
In the formula, u dc (k) represents the acquired bus voltage value at the time k, As an estimate of the actual effective torque value at time k of the permanent magnet synchronous motor,The estimated value of the rotation speed at the k moment of the permanent magnet synchronous motor.
From the above technical scheme, the application provides a rotation speed estimation device of a permanent magnet synchronous motor, which is applied to electronic equipment, and particularly obtains a plurality of nominal parameters, monitoring parameters and control parameters of the permanent magnet synchronous motor, wherein the control parameters are the observation bandwidth or sampling period of the permanent magnet synchronous motor; and solving a speed estimation model constructed based on an improved motor motion equation considering system disturbance based on the nominal parameter, the monitoring parameter and the control parameter to obtain a speed estimation value of the permanent magnet synchronous motor. The scheme gets rid of direct dependence on the current sensor in the process of estimating the rotating speed of the motor, and avoids the problem of larger error of the speed estimation value caused by poor accuracy of the current signal output by the current sensor.
In addition, the scheme of the application also overcomes the influence of uncertainty disturbance existing in the system on the rotation speed estimation, and improves the accuracy and the robustness of the estimation of the rotation speed of the permanent magnet synchronous motor.
The units involved in the embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The name of the unit does not in any way constitute a limitation of the unit itself, for example the first acquisition unit may also be described as "unit acquiring at least two internet protocol addresses".
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
Fig. 6 is a block diagram of an electronic device according to an embodiment of the present application.
Referring to fig. 6, a schematic diagram of a configuration of an electronic device suitable for use in implementing embodiments of the present disclosure is shown. The terminal devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device is merely an example and should not impose any limitations on the functionality and scope of use of embodiments of the present disclosure.
The electronic device may include a processing means (e.g., a central processor, a graphics processor, etc.) 501 that may perform various appropriate actions and processes in accordance with programs stored in a read-only memory ROM502 or loaded from an input means 506 into a random access memory RAM 503. In the RAM, various programs and data required for the operation of the electronic device are also stored. The processing device, ROM, and RAM are connected to each other by bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
In general, the following devices may be connected to the I/O interface: input devices including, for example, touch screens, touch pads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; an output device 507 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 508 including, for example, magnetic tape, hard disk, etc.; and communication means 509. The communication means 509 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. While an electronic device having various means is shown in the figures, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
The application also provides a computer-readable storage medium embodiment.
The storage medium is applied to the electronic equipment and carries one or more computer programs, and when the one or more computer programs are executed by the electronic equipment, the electronic equipment is enabled to obtain a plurality of nominal parameters and control parameters of the permanent magnet synchronous motor, wherein the control parameters are the observation bandwidth or the sampling period of the permanent magnet synchronous motor; and solving a speed estimation model constructed based on an improved motor motion equation considering system disturbance based on the nominal parameter and the control parameter to obtain a speed estimation value of the permanent magnet synchronous motor. The scheme gets rid of direct dependence on the current sensor in the process of estimating the rotating speed of the motor, and avoids the problem of larger error of the speed estimation value caused by poor accuracy of the current signal output by the current sensor.
It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or terminal device that comprises the element.
The foregoing has outlined rather broadly the more detailed description of the invention in order that the detailed description of the invention that follows may be better understood, and in order that the present principles and embodiments may be better understood; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (6)
1. The rotational speed estimation method of the permanent magnet synchronous motor is applied to electronic equipment and is characterized by comprising the following steps of:
acquiring a plurality of nominal parameters, monitoring parameters and control parameters of the permanent magnet synchronous motor, wherein the control parameters are the observation bandwidth or sampling period of the permanent magnet synchronous motor;
Solving a speed estimation model constructed based on an improved motor motion equation considering system disturbance based on the nominal parameter, the monitoring parameter and the control parameter to obtain a speed estimation value of the permanent magnet synchronous motor, specifically solving a first speed estimation model based on the nominal parameter, the monitoring parameter and the observation bandwidth to obtain the speed estimation value, or solving a second speed estimation model based on the nominal parameter, the monitoring parameter and the sampling period to obtain the speed estimation value;
The improved motor motion equation is as follows:
Wherein T ref represents the actual effective torque value of the permanent magnet synchronous motor output outwards and meets the following requirements Omega m is the mechanical angular speed of the permanent magnet synchronous motor, J 0 is the nominal rotational inertia value of the permanent magnet synchronous motor, B 0 is the nominal damping coefficient of the permanent magnet synchronous motor, delta J 0 is the variation of the actual rotational inertia of the permanent magnet synchronous motor relative to the nominal rotational inertia value, delta B 0 is the variation of the actual damping coefficient of the permanent magnet synchronous motor relative to the nominal damping coefficient, and f represents the real disturbance quantity which exists in a motion system of the permanent magnet synchronous motor and is difficult to model; t e is the electromagnetic torque of the permanent magnet synchronous motor, and T L is the load torque of the permanent magnet synchronous motor;
the first rotational speed estimation model is:
Wherein omega m is the mechanical angular speed of the permanent magnet synchronous motor, For the rotation speed estimated value, J 0 is the nominal rotation inertia value of the permanent magnet synchronous motor, B 0 is the nominal damping coefficient of the permanent magnet synchronous motor, T ref is the actual effective torque value output by the permanent magnet synchronous motor,K ω is the rotation speed feedback coefficient of the first rotation speed estimation model, and k T is the torque feedback coefficient of the first rotation speed estimation model; and, in addition, the method comprises the steps of,K T＝(ωo)2J0, wherein ω o is the observation bandwidth;
The second rotational speed estimation model is as follows:
Wherein, For the rotation speed estimation value, J 0 is a nominal rotation inertia value of the permanent magnet synchronous motor, B 0 is a nominal damping coefficient of the permanent magnet synchronous motor, ω m (ref) is a reference value of a mechanical angular velocity of the permanent magnet synchronous motor, ω m (k-1) is a mechanical angular velocity of the permanent magnet synchronous motor at a time preceding a k time, and T s is the sampling period.
2. The rotational speed estimation method according to claim 1, wherein the solving process for constructing a preset speed estimation model based on an improved motor motion equation considering system disturbance based on the nominal parameter, the monitored parameter and the control parameter, further comprises the steps of:
Processing the rotation speed estimated value based on a current calculation formula to obtain bus current of the permanent magnet synchronous motor, wherein the current calculation formula is as follows:
wherein u dc (k) represents the bus voltage value of the permanent magnet synchronous motor at the moment k, As an estimate of the actual effective torque value of the permanent magnet synchronous motor at time k,And the rotation speed estimated value is obtained.
3. A rotational speed estimation device of a permanent magnet synchronous motor, applied to an electronic device, characterized in that the rotational speed estimation device comprises:
the parameter acquisition module is configured to acquire a plurality of nominal parameters, monitoring parameters and control parameters of the permanent magnet synchronous motor, wherein the control parameters are observation bandwidths or sampling periods of the permanent magnet synchronous motor;
The estimation execution module is configured to solve a speed estimation model constructed based on an improved motor motion equation considering system disturbance based on the nominal parameter, the monitoring parameter and the control parameter to obtain a speed estimation value of the permanent magnet synchronous motor, and comprises a first estimation unit and a second estimation unit, wherein the first estimation unit is used for solving the first speed estimation model based on the nominal parameter, the monitoring parameter and the observation bandwidth to obtain the speed estimation value, and the second estimation unit is used for solving the second speed estimation model based on the nominal parameter, the monitoring parameter and the sampling period to obtain the speed estimation value;
The improved motor motion equation is as follows:
Wherein T ref represents the actual effective torque value of the permanent magnet synchronous motor output outwards and meets the following requirements Omega m is the mechanical angular velocity of the permanent magnet synchronous motor, J 0 is the nominal rotational inertia value of the permanent magnet synchronous motor, B 0 is the nominal damping coefficient of the permanent magnet synchronous motor, delta J 0 is the variation of the actual rotational inertia of the permanent magnet synchronous motor relative to the nominal rotational inertia value, delta B 0 is the variation of the actual damping coefficient of the permanent magnet synchronous motor relative to the nominal damping coefficient, f represents the real disturbance quantity which exists in a motion system of the permanent magnet synchronous motor and is difficult to model, T e is the electromagnetic torque of the permanent magnet synchronous motor, and T L is the load torque of the permanent magnet synchronous motor;
the first rotational speed estimation model is:
Wherein omega m is the mechanical angular speed of the permanent magnet synchronous motor, For the rotation speed estimated value, J 0 is the nominal rotation inertia value of the permanent magnet synchronous motor, B 0 is the nominal damping coefficient of the permanent magnet synchronous motor, T ref is the actual effective torque value output by the permanent magnet synchronous motor,K ω is the rotation speed feedback coefficient of the first rotation speed estimation model, and k T is the torque feedback coefficient of the first rotation speed estimation model; and, in addition, the method comprises the steps of,K T＝(ωo)2J0, wherein ω o is the observation bandwidth;
The second rotational speed estimation model is as follows:
Wherein, For the rotation speed estimation value, J 0 is a nominal rotation inertia value of the permanent magnet synchronous motor, B 0 is a nominal damping coefficient of the permanent magnet synchronous motor, ω m (ref) is a reference value of a mechanical angular velocity of the permanent magnet synchronous motor, ω m (k-1) is a mechanical angular velocity of the permanent magnet synchronous motor at a time preceding a k time, and T s is the sampling period.
4. The rotational speed estimation device of claim 3, wherein the estimation execution module further includes:
The third estimation unit is configured to process the rotation speed estimation value based on a current calculation formula to obtain bus current of the permanent magnet synchronous motor, wherein the current calculation formula is as follows:
wherein u dc (k) represents the bus voltage value of the permanent magnet synchronous motor at the moment k, As an estimate of the actual effective torque value of the permanent magnet synchronous motor at time k,And the rotation speed estimated value is obtained.
5. An electronic device for use with a permanent magnet synchronous motor, the electronic device comprising at least one processor and a memory coupled to the processor, wherein:
The memory is used for storing a computer program or instructions;
the processor is configured to execute the computer program or instructions to cause the electronic device to implement the rotational speed estimation method according to any one of claims 1 to 2.
6. A storage medium for application to an electronic device, characterized in that the storage medium carries one or more computer programs that are executable by the electronic device, so as to cause the electronic device to implement the rotational speed estimation method according to any one of claims 1-2.
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| CN104184382B (en) * | 2014-08-11 | 2017-02-15 | 天津大学 | Method for observing speed of permanent magnet motor |
| CN117104332A (en) * | 2023-08-21 | 2023-11-24 | 南京航空航天大学 | Composite disturbance suppression method for wire-controlled steering system of permanent magnet synchronous motor |
| CN117335706A (en) * | 2023-10-17 | 2024-01-02 | 南京工业大学 | Permanent magnet synchronous motor speed loop control method and system |
| CN117914204A (en) * | 2024-01-16 | 2024-04-19 | 南京航空航天大学 | Permanent magnet synchronous motor active disturbance rejection control method based on improved extended state observer |
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| CN113054878A (en) * | 2021-03-29 | 2021-06-29 | 东南大学 | Arc motor prediction control method based on improved disturbance observer |
| CN114726278A (en) * | 2022-04-26 | 2022-07-08 | 湘潭开元机电制造有限公司 | Permanent magnet synchronous motor self-adaptive control method based on mechanical parameter identification |
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