WO2022134661A1

WO2022134661A1 - Method for selecting magnetization state of adjustable-flux permanent magnet synchronous motor in case of optimal control of full-speed domain efficiency and online control method

Info

Publication number: WO2022134661A1
Application number: PCT/CN2021/117686
Authority: WO
Inventors: 郑萍; 乔光远; 王明峤; 刘法亮; 黄家萱; 陈闯
Original assignee: 哈尔滨工业大学
Priority date: 2020-12-21
Filing date: 2021-09-10
Publication date: 2022-06-30
Also published as: CN112468035A; CN112468035B

Abstract

A method for selecting a magnetization state of an adjustable-flux permanent magnet synchronous motor in case of optimal control of the full-speed domain efficiency and an online control method belong to the field of motors, and the present invention solves the problem that an accurate optimal control of the full-speed domain efficiency of an adjustable-flux motor cannot be achieved in conventional technologies. The method of the present invention comprises: step one, acquiring, according to a current trajectory searching method in case of optimal control of the full-speed domain efficiency, current working points with minimum current amplitudes of a motor operating in m different magnetization states, respectively, to obtain m efficiency MAPs of the motor; step two, determining an operation range of the motor; step three, determining an optimal magnetization state of the motor at each working point within the operation range on the basis of a principle of optimum efficiency; step four, making an optimal magnetization state query diagram of an adjustable-flux motor in case of optimal control of the full-speed domain efficiency; and step five, when the adjustable-flux motor operates, determining an optimal magnetization state of the adjustable-flux motor at each working point in a full-speed domain according to the optimal magnetization state query diagram, achieving optimal control of the full-speed domain efficiency of the adjustable-flux motor.

Description

可调磁通永磁同步电机全速域效率最优控制磁化状态选择方法及在线控制方法Magnetization state selection method and online control method for optimal control of full-speed efficiency of adjustable-flux permanent magnet synchronous motor

技术领域technical field

本发明涉及一种可调磁通永磁同步电机全速域效率最优控制时的磁化状态选择方法和电流轨迹搜索算法，一种可调磁通永磁同步电机非线性磁链模型和一种基于神经网络的可调磁通永磁同步电机全速域效率最优在线控制算法，属于电机领域。The invention relates to a magnetization state selection method and a current trajectory search algorithm in the full-speed domain efficiency optimal control of an adjustable-flux permanent-magnet synchronous motor, a nonlinear flux linkage model of an adjustable-flux permanent-magnet synchronous motor and a method based on The invention discloses an optimal online control algorithm for the full-speed domain efficiency of an adjustable magnetic flux permanent magnet synchronous motor of a neural network, which belongs to the field of motors.

背景技术Background technique

近年来传统汽车保有量激增，造成的环境污染问题日益严重，逐步成为加剧全球变暖和温室效应的重要因素之一。同时，传统汽车使用内燃机，其能量转化率较低，且十分依赖石油等不可再生资源，环境污染和能源危机的双重压力促使传统汽车产业逐步向新能源汽车方向发展。稀土永磁同步电机具有高功率因数、高功率密度、高效率、高可靠性等优点，被广泛应用于电动汽车，轨道交通，家用电器，航空航天和国防工业等领域。稀土永磁电机按转子结构不同可以分为表贴式永磁同步电机和内置式永磁同步电机，其中内置式永磁同步电机的交、直轴电感不同，利用电感的不对称性可以产生额外的磁阻转矩，进而提高电机的转矩输出能力。In recent years, the number of traditional automobiles has surged, resulting in increasingly serious environmental pollution problems, and has gradually become one of the important factors aggravating global warming and the greenhouse effect. At the same time, traditional automobiles use internal combustion engines, which have a low energy conversion rate and are very dependent on non-renewable resources such as oil. The dual pressures of environmental pollution and energy crisis have prompted the traditional automobile industry to gradually develop in the direction of new energy vehicles. Rare earth permanent magnet synchronous motors have the advantages of high power factor, high power density, high efficiency, and high reliability, and are widely used in electric vehicles, rail transit, household appliances, aerospace and defense industries. Rare earth permanent magnet motors can be divided into surface-mounted permanent magnet synchronous motors and built-in permanent magnet synchronous motors according to different rotor structures. The built-in permanent magnet synchronous motors have different AC and direct axis inductance. the reluctance torque, thereby improving the torque output capability of the motor.

为最大程度地利用磁阻转矩，提高电机的输出转矩，实现电机在全速域的高效运行，全速域效率最优控制的思想通常被用于内置式永磁同步电机。采用全速域效率最优控制方法能够最大限度地利用电机的磁阻转矩，提高电机在单位定子电流下的转矩输出能力，在一定的输出转矩需求和电压极限下，只需施加较小的定子电流，可以有效降低电机运行时的铜损，提高电机的运行效率。传统的全速域效率最优控制算法基于永磁同步电机的数学模型，认为电机的交直轴电感、永磁磁链等参数值固定，但是这些电机参数会随着电机铁心饱和程度的变化而变化，且电机的负载饱和程度越高，电机电感等参数变化越明显，传统算法使用固定参数值计算全速域效率最优控制时的电流轨迹明显不合理，无法准确的给出全速域效率最优控制时的电流轨迹。In order to maximize the use of the reluctance torque, improve the output torque of the motor, and realize the efficient operation of the motor in the full-speed domain, the idea of the optimal control of the full-speed domain efficiency is usually used in the built-in permanent magnet synchronous motor. The optimal control method of full-speed domain efficiency can maximize the use of the reluctance torque of the motor and improve the torque output capability of the motor under unit stator current. Under a certain output torque demand and voltage limit, only a small amount of The stator current can effectively reduce the copper loss when the motor is running and improve the operating efficiency of the motor. The traditional full-speed domain efficiency optimal control algorithm is based on the mathematical model of the permanent magnet synchronous motor. It is considered that the parameters such as the inductance of the motor and the permanent magnet flux linkage are fixed, but these motor parameters will change with the saturation of the motor core. And the higher the load saturation of the motor, the more obvious the changes of the motor inductance and other parameters. The traditional algorithm uses fixed parameter values to calculate the current trajectory of the full-speed domain efficiency optimal control, which is obviously unreasonable, and cannot accurately give the full-speed domain efficiency. current trajectory.

可调磁通永磁同步电机采用低矫顽力的永磁体，通过在电枢绕组中施加脉冲电流改变电机磁化状态来实现气隙磁场调节，可以解决传统永磁同步电机高速弱磁运行时存在的永磁磁场调节困难、局部退磁或失磁、电机铜损大、效率低等问题。通过调磁控制与弱磁控制相结合，可以进一步提高电机的转速范围和运行效率。The adjustable magnetic flux permanent magnet synchronous motor adopts permanent magnets with low coercivity, and the air gap magnetic field adjustment is realized by applying pulse current in the armature winding to change the magnetization state of the motor. The permanent magnet magnetic field is difficult to adjust, local demagnetization or demagnetization, large copper loss of the motor, and low efficiency. Through the combination of magnetic control and field weakening control, the speed range and operating efficiency of the motor can be further improved.

传统的全速域效率最优控制算法认为电机的交直轴电感、永磁磁链等参数值固定，这种等效处理方式是不合理的，传统全速域效率最优控制算法中用到永磁磁链、交轴电感、直轴电感等电机参数，这些电机参数会随着电机铁心饱和程度的变化而变化，且电机的负载饱和程度越高，电机电感等参数变化越明显，传统算法使用固定参数值计算可调磁通电机在某一磁化状态下全速域效率最优控制下的电流轨迹明显不合理，得到的电流轨迹与实际全速域效率最优控制电流轨迹有偏差，无法实现准确的全速域效率最优控制。The traditional optimal control algorithm for efficiency in the full speed domain considers that the values of the parameters such as the inductance of the motor’s AC and direct axes and the permanent magnet flux linkage are fixed. This equivalent processing method is unreasonable. The traditional optimal control algorithm for the efficiency in the full speed domain uses permanent magnetic Motor parameters such as chain, quadrature-axis inductance, direct-axis inductance, etc., these motor parameters will change with the saturation degree of the motor core, and the higher the load saturation degree of the motor, the more obvious the motor inductance and other parameters change, the traditional algorithm uses fixed parameters The current trajectory of the adjustable flux motor under the optimal control of the full-speed domain efficiency in a certain magnetization state is obviously unreasonable, and the obtained current trajectory deviates from the actual optimal control current trajectory of the full-speed domain efficiency, so it is impossible to achieve an accurate full-speed domain efficiency control current trajectory Optimal control of efficiency.

同时可调磁通电机的磁化状态(永磁磁链)可以通过在绕组中施加相应的调磁电流进行调整，而电机在不同的磁化状态下运行在相同工况点(转矩-转速点)的效率不同，希望合理的选择电机的磁化状态，通过磁化状态的调整，使电机在全速域内每个工况点都工作在效率最优的磁化状态，实现可调磁通电机全速域效率最优控制。At the same time, the magnetization state (permanent flux linkage) of the adjustable-flux motor can be adjusted by applying the corresponding magnetizing current in the winding, and the motor runs at the same operating point (torque-speed point) under different magnetization states. The efficiency of the motor is different. It is hoped that the magnetization state of the motor should be reasonably selected. Through the adjustment of the magnetization state, the motor can work in the magnetization state with the optimal efficiency at each operating point in the full speed domain, so as to realize the optimal efficiency of the adjustable flux motor in the full speed domain. control.

发明内容SUMMARY OF THE INVENTION

本发明目的是为了解决传统的全速域效率最优控制算法使用固定参数值计算，存在电流轨迹偏差大，无法准确的选择电机效率最优的磁化状态，无法实现准确的可调磁通电机全速域效率最优控制的问题，提供了一种可调磁通永磁同步电机全速域效率最优控制磁化状态选择方法，实现可调磁通永磁同步电机全速域效率最优控制时电机磁化状态的选择和电流轨迹的快速、准确的给定。本发明利用电机的非线性负载磁链模型，充分考虑了电机在不同磁化状态下、不同负载情况下铁心饱和等非线性因素的影响规律，不需要计算电感、永磁磁链等参数，搜索过程中迭代收敛速度快，计算量小，可以快速、准确地给定可调磁通电机在任一磁化状态下进行全速域效率最优控制时的电流轨迹。The purpose of the present invention is to solve the problem that the traditional full-speed domain efficiency optimal control algorithm uses fixed parameter value calculation, and there is a large deviation of the current trajectory, which cannot accurately select the magnetization state with the best motor efficiency, and cannot achieve an accurate adjustable magnetic flux motor in the full-speed domain. To solve the problem of optimal efficiency control, this paper provides a method for selecting the magnetization state of the full-speed optimal control of the adjustable-flux permanent magnet synchronous motor in the full-speed domain, so as to realize the optimal control of the motor's magnetization state in the full-speed domain efficiency of the adjustable-flux permanent-magnet synchronous motor. Selection and fast, accurate specification of current traces. The invention uses the nonlinear load flux linkage model of the motor, and fully considers the influence laws of nonlinear factors such as iron core saturation of the motor under different magnetization states and different loads, and does not need to calculate parameters such as inductance and permanent magnet flux linkage. It has a fast convergence speed and a small amount of calculation, and can quickly and accurately specify the current trajectory of the adjustable flux motor during the full-speed domain efficiency optimal control in any magnetization state.

本发明所述可调磁通永磁同步电机全速域效率最优控制磁化状态选择方法，该方法为：The method for selecting the optimal control magnetization state for the full-speed domain efficiency of the adjustable magnetic flux permanent magnet synchronous motor according to the present invention is as follows:

步骤一、在给定的电机磁化状态、转矩指令、转速指令、电压极限、电流极限下，根据全速域效率最优控制电流轨迹搜索方法分别获取m个不同磁化状态下电机运行电流幅值最小的电流工作点，得到在m个不同磁化状态下电机全速域效率最优控制时的电机效率MAP图；m＞3； Step 1. Under the given motor magnetization state, torque command, speed command, voltage limit, and current limit, obtain the minimum current amplitude of the motor under m different magnetization states according to the full-speed domain efficiency optimal control current trajectory search method. The current operating point is obtained, and the MAP map of the motor efficiency under the optimal control of the motor full-speed domain efficiency under m different magnetization states is obtained; m>3;

步骤二、根据步骤一所述的m个不同磁化状态下电机全速域效率最优控制时的电机效率MAP图确定电机的运行范围，所述电机的运行范围是电机在不同磁化状态下能实现的最大的转矩-转速范围；Step 2: Determine the operating range of the motor according to the motor efficiency MAP map when the efficiency of the motor in the full speed domain is optimally controlled under m different magnetization states described in step 1, and the operating range of the motor is achievable by the motor in different magnetization states Maximum torque-speed range;

步骤三、基于效率最优的原则确定电机在运行范围内各个工作点的最优磁化状态；Step 3: Determine the optimal magnetization state of each working point of the motor within the operating range based on the principle of optimal efficiency;

所述基于效率最优的原则为：对电机运行范围内的每一个转矩-转速工作点来说，若只有某一个磁化状态能实现该转矩-转速点，则电机全速域效率最优控制运行至该点时需选择该磁化状态；若有多个不同的磁化状态均能实现该转矩-转速点，则电机全速域效率最优控制运行至该点时需选择在该点运行效率最高的磁化状态；The principle based on the optimal efficiency is: for each torque-speed operating point within the motor operating range, if only a certain magnetization state can achieve the torque-speed point, the motor will be optimally controlled in the full-speed domain efficiency. When running to this point, the magnetization state needs to be selected; if there are multiple different magnetization states that can achieve this torque-speed point, the optimal control of the motor's full-speed domain efficiency should select the point with the highest operating efficiency when running to this point. magnetization state;

步骤四、根据步骤三所选择的磁化状态制作可调磁通电机全速域效率最优控制电机最佳磁化状态查询图； Step 4, according to the magnetization state selected in step 3, make a query map of the optimal magnetization state of the adjustable magnetic flux motor for the optimal control of the full-speed domain efficiency of the motor;

步骤五、可调磁通电机运行时，根据步骤四制作的最佳磁化状态查询图，即按同一工作点效率最优的原则确定在全速域内各个工作点的最佳磁化状态，实现可调磁通电机全速域效率最优控制。 Step 5. When the adjustable magnetic flux motor is running, according to the optimal magnetization state query map made in step 4, that is, according to the principle of optimal efficiency at the same operating point, determine the optimal magnetization state of each operating point in the full-speed domain to realize adjustable magnetic flux. Optimal control of efficiency in the full speed domain of the motor.

优选地，m＝4，4个磁化状态分别为25％、50％、75％、100％。Preferably, m=4, and the four magnetization states are 25%, 50%, 75%, and 100%, respectively.

优选地，其特征在于，m＝6，6个磁化状态分别为25％、40％、50％、70％、85％、100％。Preferably, it is characterized in that, m=6, and the six magnetization states are respectively 25%, 40%, 50%, 70%, 85%, and 100%.

优选地，全速域效率最优控制电流轨迹搜索方法为：电机运行在基速值以下时，在给定的转矩指令、转速指令、电压极限、电流极限下，采用MTPA控制方式获取电流幅值最小的电流工作点作为电流轨迹；电机运行在基速值以上时，在给定的转矩指令、转速指令、电压极限、电流极限下，采用弱磁区效率最优控制方式获取电流幅值最小的电流工作点作为电流轨迹；Preferably, the optimal control current trajectory search method in the full speed domain is as follows: when the motor is running below the base speed value, under the given torque command, speed command, voltage limit, and current limit, the MTPA control method is used to obtain the current amplitude. The minimum current operating point is used as the current trajectory; when the motor runs above the base speed value, under the given torque command, speed command, voltage limit, and current limit, the optimal control method of field weakening area efficiency is adopted to obtain the one with the smallest current amplitude. Current operating point as current trace;

采用MTPA控制方式获取电流幅值最小的电流工作点的过程包括电流角迭代循环步骤和电流幅值迭代循环步骤，首先进行电流角迭代循环步骤，电流角迭代方向为电流幅值减小的方向；在进行电流角迭代过程中，嵌套电流幅值迭代循环步骤，用以确定每个电流角对应的电流幅值，电流幅值的迭代方向为给定转矩与实际转矩误差减小的方向，当电流角的迭代区间小于给定电流角迭代精度，认为电流幅值已经收敛至最小值，输出MTPA电流轨迹；The process of using the MTPA control method to obtain the current operating point with the smallest current amplitude includes the current angle iteration cycle step and the current amplitude iteration cycle step. First, the current angle iteration cycle step is performed, and the current angle iteration direction is the direction in which the current amplitude decreases; In the current angle iteration process, the current amplitude iteration loop steps are nested to determine the current amplitude corresponding to each current angle. The iteration direction of the current amplitude is the direction in which the error between the given torque and the actual torque decreases. , when the iteration interval of the current angle is less than the given current angle iteration accuracy, it is considered that the current amplitude has converged to the minimum value, and the MTPA current trajectory is output;

采用弱磁区效率最优控制方式获取电流幅值最小的电流工作点的过程包括弱磁电流角迭代循环步骤和电流幅值迭代循环步骤，首先进行电流角迭代循环步骤，电流角迭代方向为电压极限下电流幅值减小的方向；在进行电流角迭代的过程中，嵌套电流幅值迭代循环步骤，用以确定每个电流角对应的电流幅值，电流幅值的迭代方向为给定转矩与实际转矩误差减小的方向，当电流角的迭代区间小于给定电流角迭代精度，认为电流幅值已经收敛至最小值，输出弱磁区效率最优控制电流轨迹。The process of obtaining the current operating point with the smallest current amplitude by adopting the optimal control method of the field weakening region efficiency includes the field weakening current angle iteration loop step and the current amplitude iteration loop step. First, the current angle iteration loop step is performed, and the current angle iteration direction is the voltage limit The direction in which the current amplitude decreases; in the process of current angle iteration, the current amplitude iteration loop steps are nested to determine the current amplitude corresponding to each current angle, and the iteration direction of the current amplitude is a given rotation. When the iteration interval of the current angle is smaller than the given current angle iteration accuracy, the current amplitude is considered to have converged to the minimum value, and the optimal control current trajectory of the field weakening area is output.

优选地，采用MTPA控制方式获取电流幅值最小的电流工作点的过程包括电流角迭代循环步骤和电流幅值迭代循环步骤：Preferably, the process of using the MTPA control method to obtain the current operating point with the smallest current amplitude includes the current angle iteration loop step and the current amplitude iteration loop step:

电流角迭代循环步骤包括：The current angle iteration loop steps include:

A1、初始化电流角初值区间[a ₁，b ₁]，并计算电流角试探点初值λ ₁、β ₁： A1. Initialize the initial value interval of the current angle [a ₁ , b ₁ ], and calculate the initial values λ ₁ and β ₁ of the current angle test point:

λ ₁＝a ₁+0.382(b ₁-a ₁)、β ₁＝a ₁+0.618(b ₁-a ₁)； λ ₁ =a ₁ +0.382(b ₁ -a ₁ ), β ₁ =a ₁ +0.618(b ₁ -a ₁ );

A2、判断两电流角试探点处电流幅值目标函数值I(λ _k)和I(β _k)是否存在关系I(λ _k)＞I(β _k)，电流角迭代次数k＝1，2，3... A2. Determine whether there is a relationship between the current amplitude objective function values I(λ _k ) and I(β _k ) at the two current angle test points. I(λ _k )>I(β _k ), the current angle iteration times k=1, 2 , 3...

判断结果为是，执行步骤A3；判断结果为否执行步骤A5；If the judgment result is yes, execute step A3; if the judgment result is no, execute step A5;

电流幅值目标函数值I(λ _k)和I(β _k)通过调用电流幅值迭代循环获取； The current amplitude objective function values I(λ _k ) and I(β _k ) are obtained by calling the current amplitude iterative loop;

A3、令a _k+1＝λ _k，b _k+1＝b _k，λ _k+1＝β _k，β _k+1＝a _k+1+0.618(b _k+1-a _k+1)， A3. Let a _k+1 =λ _k , b _k+1 =b _k , λ _k+1 =β _k , β _k+1 = _ak+1 +0.618(b _k+ 1 -ak ₊₁ ),

A4、调用电流幅值迭代循环获取电流幅值目标函数值I(β _k+1)，然后执行步骤A7； A4. Invoke the current amplitude iterative loop to obtain the current amplitude objective function value I(β _k+1 ), and then execute step A7;

A5、令a _k+1＝a _k，b _k+1＝β _k，β _k+1＝λ _k，λ _k+1＝a _k+1+0.382(b _k+1-a _k+1)， A5. Let a _k+1 = _ak , b _k+1 =β _k , β _k+1 =λ _k , λ _k+1 = _ak+1 +0.382(b _k+ 1 -ak ₊₁ ),

A6、调用电流幅值迭代循环获取电流幅值目标函数值I(λ _k+1)，然后执行步骤A7； A6. Invoke the current amplitude iterative loop to obtain the current amplitude objective function value I(λ _k+1 ), and then execute step A7;

A7、令k＝k+1；A7. Let k=k+1;

A8、判断迭代是否收敛：若b _k-a _k＜L ₁，执行步骤A9；否则，返回步骤A2； A8. Determine whether the iteration is converged: if b _k _-ak <L ₁ , execute step A9; otherwise, return to step A2;

其中L ₁为电流角迭代精度； where L ₁ is the current angle iteration accuracy;

A9、判断电流工作点是否同时满足电流极限与电压极限的要求：若I(λ _k)≤I _lim&U(λ _k)≤U _lim，I _lim为给定电流极限值，U _lim为给定电压极限值，输出MTPA电流轨迹；否则，重新输入转矩、转速指令，再返回执行步骤A1； A9. Determine whether the current operating point meets the requirements of current limit and voltage limit at the same time: if I(λ _k )≤I _lim &U(λ _k )≤U _lim , I _lim is the given current limit value, and U _lim is the given voltage If the limit value is reached, output the MTPA current trajectory; otherwise, re-input the torque and speed commands, and then return to step A1;

电流轨迹为：电流幅值I＝I(λ _k)、电流角θ＝λ _k； The current trajectory is: current amplitude I=I(λ _k ), current angle θ=λ _k ;

电流幅值迭代循环步骤包括：The current amplitude iteration loop steps include:

B1、初始化电流幅值的初值区间：[c ₁，d ₁]，并计算电流幅值试探点初值μ ₁、v ₁： B1. Initialize the initial value interval of the current amplitude: [c ₁ , d ₁ ], and calculate the initial value μ ₁ and v ₁ of the current amplitude test point:

μ ₁＝c ₁+0.382(d ₁-c ₁)、v ₁＝c ₁+0.618(d ₁-c ₁)； μ ₁ =c ₁ +0.382(d ₁ −c ₁ ), v ₁ =c ₁ +0.618(d ₁ −c ₁ );

B2、计算两电流幅值试探点处的转矩误差目标函数值：f(μ ₁)、f(v ₁)， B2. Calculate the torque error objective function values at the test points of the two current amplitudes: f(μ ₁ ), f(v ₁ ),

转矩误差目标函数f(I)按

获取，其中：

为给定转矩，T _e(I，θ)为电流角θ对应的转矩，T _e(I，θ)根据电机非线性负载交直轴磁链模型计算获取；电流角θ为电流角迭代循环输出的电流角试探点λ _k、β _k；I为电流幅值； The torque error objective function f(I) presses

Get, where:

is a given torque, T _e (I, θ) is the torque corresponding to the current angle θ, T _e (I, θ) is calculated and obtained according to the non-linear load AC-direction flux linkage model of the motor; the current angle θ is the current angle iterative cycle Output current angle test points λ _k , β _k ; I is the current amplitude;

B3、判断两电流幅值试探点处转矩误差目标函数值f(μ _h)和f(v _h)是否存在关系f(μ _h)＞f(v _h)，电流幅值迭代次数h＝1，2，3... B3. Judging whether there is a relationship between the torque error objective function values f(μ _h ) and f(v _h ) at the two current amplitude test points f(μ _h )>f(v _h ), the current amplitude iteration times h=1 , 2, 3...

判断结果为是，执行步骤B4；判断结果为否执行步骤B5；If the judgment result is yes, execute step B4; if the judgment result is no, execute step B5;

B4、令c _h+1＝μ _h，d _h+1＝d _h，μ _h+1＝v _h，v _h+1＝c _h+1+0.618(d _h+1-c _h+1)， B4. Let c _h+1 = μ _h , dh ₊₁ =d _h , μ _h+1 =v _h , v _h+1 =c _h+1 +0.618(d _h+1 −c _h+1 ),

计算目标函数值f(v _h+1)，然后步骤B6； Calculate the objective function value f(v _h+1 ), then step B6;

B5、令c _h+1＝c _h，d _h+1＝v _h，v _h+1＝μ _h，μ _h+1＝c _h+1+0.382(d _h+1-c _h+1)， B5. Let c _h+1 = c _h , dh ₊₁ = v _h , v _h+1 = μ _h , μ _h+1 = c _h+1 +0.382(d _h+1 −c _h+1 ),

计算目标函数值f(μ _h+1)，然后步骤B6； Calculate the objective function value f(μ _h+1 ), then step B6;

B6、令h＝h+1，B6. Let h=h+1,

B7、判断迭代是否收敛：若d _h-c _h＜L ₂，输出给定电流角对应的电流幅值I(θ)、电压幅值U(θ)，输出结果用于电流角的迭代搜索过程；否则，返回步骤B3；其中L ₂为电流幅值迭代精度。 B7. Judging whether the iteration is converged: if d _h _-ch <L ₂ , output the current amplitude I(θ) and the voltage amplitude U(θ) corresponding to the given current angle, and the output result is used for the iterative search process of the current angle ; otherwise, return to step B3; where L ₂ is the current amplitude iteration accuracy.

优选地，采用弱磁区效率最优控制方式获取电流幅值最小的电流工作点的过程包括弱磁电流角迭代循环步骤和电流幅值迭代循环步骤：Preferably, the process of obtaining the current operating point with the smallest current amplitude by adopting the optimal control mode of field weakening region efficiency includes the iterative looping step of field weakening current angle and the iterative looping step of current amplitude:

弱磁电流角迭代循环步骤包括：The iterative loop steps of the field weakening current angle include:

C1、初始化电流角初值区间[a ₁，b ₁]，并计算电流角试探点初值λ ₁、β ₁： C1. Initialize the initial value interval of the current angle [a ₁ , b ₁ ], and calculate the initial values λ ₁ and β ₁ of the current angle test point:

C2、判断负载电压目标函数值U(β _k)和电压极限值U _lim的大小关系，若U(β _k)＞U _lim，执行步骤C6；否则，执行步骤C3； C2. Determine the magnitude relationship between the load voltage objective function value U(β _k ) and the voltage limit value U _lim , if U(β _k )>U _lim , go to step C6; otherwise, go to step C3;

负载电压目标函数值U(β _k)通过调用电流幅值迭代循环获取，电流角迭代次数k＝1，2，3...； The load voltage objective function value U(β _k ) is obtained by calling the current amplitude iterative loop, and the current angle iteration times k=1, 2, 3...;

C3、判断两电流角试探点处电流幅值目标函数值I(λ _k)和I(β _k)是否存在关系I(λ _k)＞I(β _k)， C3. Determine whether the current amplitude objective function values I(λ _k ) and I(β _k ) at the two current angle test points have a relationship I(λ _k )>I(β _k ),

判断结果为是，执行步骤C4；判断结果为否执行步骤C6；If the judgment result is yes, execute step C4; if the judgment result is no, execute step C6;

C4、令a _k+1＝λ _k，b _k+1＝b _k，λ _k+1＝β _k，β _k+1＝a _k+1+0.618(b _k+1-a _k+1)， C4. Let a _k+1 =λ _k , b _k+1 =b _k , λ _k+1 =β _k , β _k+1 = _ak+1 +0.618(b _k+ 1 -ak ₊₁ ),

C5、调用电流幅值迭代循环获取电流幅值目标函数值I(β _k+1)，然后执行步骤C8； C5, call the current amplitude iterative loop to obtain the current amplitude objective function value I(β _k+1 ), and then execute step C8;

C6、令a _k+1＝a _k，b _k+1＝β _k，β _k+1＝λ _k，λ _k+1＝a _k+1+0.382(b _k+1-a _k+1)， C6. Let a _k+1 = _ak , b _k+1 =β _k , β _k+1 =λ _k , λ _k+1 = _ak+1 +0.382(b _k+ 1 -ak ₊₁ ),

C7、调用电流幅值迭代循环获取电流幅值目标函数值I(λ _k+1)，然后执行步骤C8； C7, call the current amplitude iterative loop to obtain the current amplitude objective function value I(λ _k+1 ), and then execute step C8;

C8、令k＝k+1；C8, let k=k+1;

C9、判断迭代是否收敛：若b _k-a _k＜L ₁，执行步骤C10；否则，返回步骤C2； C9. Determine whether the iteration is converged: if b _k _-ak <L ₁ , execute step C10; otherwise, return to step C2;

C10、判断电流工作点是否同时满足电流极限的要求：若I(λ _k)≤I _lim，I _lim为给定电流极限值，输出弱磁区效率最优控制电流轨迹；否则，重新输入转矩、转速指令，再返回执行步骤C1； C10. Determine whether the current operating point meets the requirements of the current limit at the same time: if I(λ _k )≤I _lim , and I _lim is the given current limit value, output the optimal control current trajectory of the field weakening area efficiency; otherwise, re-input the torque, speed command, and then return to step C1;

转矩误差目标函数f(I)按

获取，其中：

Get, where:

B6、令h＝h+1，B6. Let h=h+1,

优选地，电机非线性负载交直轴磁链模型的建立过程：Preferably, the establishment process of the non-linear load quadrature axis flux linkage model of the motor:

在电机的电流极限范围内等距或不等距的选取一系列电流工作点，包括等距或不等距电流幅值系列值及等距或不等距电流角系列值，所选取的电流工作点间距由电机的饱和程度决定，需要保证相邻两电流工作点之间的铁心磁导率保持不变，铁心按线性材料处理；A series of current operating points are selected equidistantly or unequally within the current limit range of the motor, including equidistant or unequal distance current amplitude series values and equidistant or unequal distance current angle series values. The point spacing is determined by the saturation degree of the motor. It is necessary to ensure that the magnetic permeability of the iron core between two adjacent current operating points remains unchanged, and the iron core is treated as a linear material;

采用仿真或实验的方式，计算所选取的电流工作点对应的电机负载交、直轴磁链数据，并将得到的负载交、直轴磁链数据进行插值，得到电流极限范围内所有电流工作点的负载交、直轴磁链模型，即永磁同步电机的非线性磁链模型：By means of simulation or experiment, calculate the motor load AC and direct-axis flux linkage data corresponding to the selected current operating point, and interpolate the obtained load AC and direct-axis flux linkage data to obtain all current operating points within the current limit range. The load alternating and direct-axis flux linkage model, that is, the nonlinear flux linkage model of the permanent magnet synchronous motor:

ψ _d(I，θ)＝ψ _d(i _d，i _q) ψ _d (I, θ)=ψ _d ( _id , i _q )

ψ _q(I，θ)＝ψ _q(i _d，i _q)。 ψ _q (I, θ) = ψ _q ( _id , i _q ).

优选地，转矩T _e(I，θ)由电机非线性负载交直轴磁链模型计算输出，按如下公式获取： Preferably, the torque T _e (I, θ) is calculated and output by the non-linear load DC-axis flux linkage model of the motor, and is obtained according to the following formula:

T _e(I，θ)＝p(ψ _d(I，θ)i _q-ψ _q(I，θ)i _d) T _e (I, θ)=p(ψ _d (I, θ)i _q -ψ _q (I, θ)i _d )

其中，p为电机极对数，i _d为电机的直轴电流，i _q为电机的交轴电流，ψ _d为电机的直轴磁链，ψ _q为电机的交轴磁链。 Among them, p is the number of pole pairs of the motor, _id is the direct axis current of the motor, i _q is the quadrature axis current of the motor, ψ _d is the direct axis flux linkage of the motor, and ψ _q is the quadrature axis flux linkage of the motor.

优选地，电压幅值U(θ)按下式获取：Preferably, the voltage amplitude U(θ) is obtained as follows:

其中直轴电压

where the direct axis voltage

交轴电压

Axial voltage

w为电机的电角速度，R ₁为电机电阻。 w is the electrical angular velocity of the motor, and R ₁ is the motor resistance.

本发明还提供另一个技术方案：永磁同步电机全速域效率最优控制在线控制方法，采用所述的可调磁通永磁同步电机全速域效率最优控制磁化状态选择方法获取电机在不同磁化状态下、全速域范围内的多个电流工作点，包括基速值以下采用MTPA控制方式获取的电流工作点，和基速值以上采用弱磁区效率最优控制方式获取的电流工作点；The present invention also provides another technical solution: an on-line control method for the optimal control of the efficiency of the permanent magnet synchronous motor in the full speed domain, using the method for selecting the magnetization state of the optimal control of the efficiency in the full speed domain of the adjustable magnetic flux permanent magnet synchronous motor to obtain the different magnetization conditions of the motor. Multiple current operating points in the full speed range under the state, including the current operating point obtained by the MTPA control method below the base speed value, and the current operating point obtained by the optimal control method of the field weakening area efficiency above the base speed value;

将这些电流工作点作为样本数据，训练生成可调磁通电机全速域效率最优在线控制神经网络模型，全速域效率最优在线控制神经网络模型的输入为电机的转速、转矩、电流极限值和电压极限值，输出为电机的磁化状态、电流幅值与电流角；Using these current operating points as sample data, the training generates the optimal online control neural network model for the full-speed domain efficiency of the adjustable flux motor. and voltage limit value, the output is the magnetization state, current amplitude and current angle of the motor;

将全速域效率最优控制神经网络模型加载至DSP或FPGA控制器中，可以实现永磁同步电机在全速域范围内效率最优在线控制，根据电机的转速和转矩指令实时输出电机的最佳磁化状态、电流幅值与电流角用于控制电机运行。Loading the full-speed domain efficiency optimal control neural network model into the DSP or FPGA controller can realize the optimal online control of the permanent magnet synchronous motor in the full-speed domain, and output the optimal motor’s optimal efficiency in real time according to the motor’s speed and torque commands. The magnetization state, current amplitude and current angle are used to control motor operation.

本发明的有益效果：Beneficial effects of the present invention:

(1)提供了一种充分考虑电机非线性的负载磁链模型，充分考虑了不同磁化状态下、不同负载情况下铁心饱和等非线性因素对电机模型的影响规律，可以准确模拟电机在不同磁化状态下、不同负载情况下的非线性特性，不需要计算电感、永磁磁链等参数，可以准确计算电机转矩、负载电压等。(1) Provide a load flux linkage model that fully considers the nonlinearity of the motor, fully considers the influence of nonlinear factors such as core saturation under different magnetization states and different loads on the motor model, and can accurately simulate the motor in different magnetization. It can accurately calculate the motor torque, load voltage, etc. without calculating the parameters such as inductance and permanent magnet flux linkage.

(2)提供了一种基于双黄金分割迭代法的全速域效率最优控制电流轨迹搜索方法，该搜索方法包括两部分，恒转矩区的效率最优控制电流轨迹搜索方法和弱磁区的效率最优控制电流轨迹搜索方法，每个搜索方法具有两个迭代循环：弱磁电流角迭代和电流幅值迭代。利用电机的负载磁链模型，搜索过程迭代收敛速度快，计算量小，可以快速、准确地确定可调磁通永磁同步电机在任一磁化状态下全速域效率最优控制时的电流轨迹，提高电机运行性能。(2) A search method based on the double golden section iteration method for the optimal control current trajectory of the full speed domain efficiency is provided. The search method includes two parts, the efficiency optimal control current trajectory search method in the constant torque region and the efficiency in the field weakening region. Optimal control current trajectory search methods, each with two iteration loops: field weakening current angle iteration and current amplitude iteration. Using the load flux linkage model of the motor, the iterative convergence speed of the search process is fast and the amount of calculation is small. Motor running performance.

(3)提供了一种基于效率最优原则的可调磁通永磁同步电机全速域效率最优控制电机磁化状态选择方法。该方法根据上述电流轨迹搜索方法分别得到可调磁通永磁同步电机在各个磁化状态下的效率最优控制电流轨迹，进一步计算得到可调磁通永磁同步电机在各个磁化状态下效率最优控制时的效率MAP图，结合电机在各个磁化状态下的效率MAP图，根据同一工作点(转矩-转速点)效率最优的原则，确定可调磁通永磁同步电机在全速域内各个工作点的最佳磁化状态，通过调磁控制和弱磁控制实现可调磁通永磁同步电机全速域效率最优控制。(3) A method for selecting the magnetization state of an adjustable-flux permanent magnet synchronous motor in the full-speed domain efficiency optimal control based on the principle of optimal efficiency is provided. According to the above current trajectory search method, the method obtains the optimal control current trajectory of the adjustable flux permanent magnet synchronous motor in each magnetization state, and further calculates the optimal efficiency of the adjustable flux permanent magnet synchronous motor in each magnetization state. The efficiency MAP map during control, combined with the efficiency MAP map of the motor in each magnetization state, according to the principle of optimal efficiency at the same operating point (torque-speed point), determine the various work of the adjustable flux permanent magnet synchronous motor in the full speed domain The optimal magnetization state of the point can be achieved by adjusting the magnetic flux control and the field weakening control to realize the optimal control of the full speed domain efficiency of the adjustable magnetic flux permanent magnet synchronous motor.

(4)提供了一种基于神经网络模型的全速域效率最优在线控制算法。将基于双黄金分割迭代法的全速域效率最优控制电流轨迹搜索方法和基于效率最优原则的全速域效率最优控制磁化状态选择方法得到的磁化状态和电流轨迹作为样本数据，对神经网络模型进行训练、测试与验证，建立神经网络模型，将全速域效率最优控制神经网络模型加载至DSP或FPGA控制器中，可以实现可调磁通永磁同步电机全速域效率最优在线控制。(4) An optimal online control algorithm of full-speed domain efficiency based on neural network model is provided. Taking the magnetization state and current trajectories obtained by the full-speed domain efficiency optimal control current trajectory search method based on the double golden section iterative method and the full-speed domain efficiency optimal control magnetization state selection method based on the principle of efficiency optimization as the sample data, the neural network model Carry out training, testing and verification, establish a neural network model, and load the neural network model for optimal control of full-speed domain efficiency into a DSP or FPGA controller, which can realize the optimal online control of full-speed domain efficiency of an adjustable-flux permanent magnet synchronous motor.

附图说明Description of drawings

图1是串并联永磁同步电机饱和去磁后的负载磁链模型，其中图1(a)是负载直轴磁链模型，图1(b)是负载交轴磁链模型；Fig. 1 is the load flux linkage model after saturation demagnetization of the series-parallel permanent magnet synchronous motor, in which Fig. 1(a) is the load direct-axis flux linkage model, and Fig. 1(b) is the load quadrature-axis flux linkage model;

图2是本发明全速域效率最优控制电流轨迹搜索方法中基速值以下采用MTPA控制方式获取工作点的流程图；Fig. 2 is the flow chart of adopting the MTPA control method to obtain the operating point below the base speed value in the full-speed domain efficiency optimal control current trajectory search method of the present invention;

图3是本发明全速域效率最优控制电流轨迹搜索方法中基速值以下采用弱磁区效率最优控制方式获取工作点的流程图；Fig. 3 is the flow chart of obtaining the operating point by adopting the optimal control mode of field weakening region efficiency below the base speed value in the full-speed domain efficiency optimal control current trajectory search method of the present invention;

图4是采用全速域效率最优控制电流轨迹搜索方法得到的电机在25％磁化状态下的效率MAP图；Fig. 4 is the efficiency MAP diagram of the motor under 25% magnetization state obtained by using the full-speed domain efficiency optimal control current trajectory search method;

图5是采用全速域效率最优控制电流轨迹搜索方法得到的电机在50％磁化状态下的效率MAP图；Fig. 5 is the efficiency MAP diagram of the motor under 50% magnetization state obtained by using the full-speed domain efficiency optimal control current trajectory search method;

图6是采用全速域效率最优控制电流轨迹搜索方法得到的电机在75％磁化状态下的效率MAP图；Fig. 6 is the efficiency MAP diagram of the motor under 75% magnetization state obtained by using the full-speed domain efficiency optimal control current trajectory search method;

图7是采用全速域效率最优控制电流轨迹搜索方法得到的电机在100％磁化状态下的效率MAP图；Fig. 7 is the efficiency MAP diagram of the motor under 100% magnetization state obtained by using the full-speed domain efficiency optimal control current trajectory search method;

图8是基于效率最优原则根据图4～图7求得的可调磁通电机最佳磁化状态查询图；Fig. 8 is a query diagram of the optimal magnetization state of the adjustable magnetic flux motor obtained from Fig. 4 to Fig. 7 based on the principle of optimal efficiency;

图9是采用本发明方法实现可调磁通电机全速域效率最优控制最佳磁化状态选择后的电机效率MAP图；9 is a MAP diagram of the motor efficiency after the method of the present invention is used to realize the optimal control of the full-speed domain efficiency of the adjustable magnetic flux motor and the selection of the optimal magnetization state;

图10是可调磁通电机全速域效率最优在线控制神经网络模型的训练、测试与验证误差的示意图。Figure 10 is a schematic diagram of the training, testing and verification errors of the optimal online control neural network model for the full-speed domain efficiency of the adjustable flux motor.

具体实施方式Detailed ways

现有的技术方案，如公式法、查表法等，在准确性、计算量、实施速度等方面具有一定的不足。传统全速域效率最优控制算法中用到永磁磁链、交轴电感、直轴电感等电机参数，这些电机参数会随着电机铁心饱和程度的变化而变化，且电机的负载饱和程度越高，电机电感等参数变化越明显，传统算法使用固定参数值计算全速域效率最优控制下的电流轨迹明显不合理，得到的电流轨迹与实际全速域效率最优控制电流轨迹有偏差。The existing technical solutions, such as the formula method and the table look-up method, have certain deficiencies in terms of accuracy, calculation amount, and implementation speed. Motor parameters such as permanent magnet flux linkage, quadrature axis inductance, and direct axis inductance are used in the traditional full-speed domain efficiency optimal control algorithm. These motor parameters will change with the saturation degree of the motor core, and the higher the load saturation degree of the motor , the more obvious the motor inductance and other parameters change, the traditional algorithm using fixed parameter values to calculate the current trajectory under the full-speed domain efficiency optimal control is obviously unreasonable, and the obtained current trajectory deviates from the actual full-speed domain efficiency optimal control current trajectory.

本发明不计算交直轴电感、永磁磁链等参数，本发明搜索方法基于黄金分割的思想，可以在给定的转矩指令、转速指令、电机磁化状态下，获取电流幅值最小的电流工作点，实现电机在某一磁化状态下的全速域效率最优控制控制。电机运行在基速值以下为恒转速区域，基速值以上为弱磁区域，为了实现全速域效率最优，本发明在基速值以下时MTPA控制方式获取电流幅值最小的电流工作点作为电流轨迹；电机运行在基速值以上时，采用弱磁区效率最优控制方式获取电流幅值最小的电流工作点作为电流轨迹；采用MTPA控制方式包括电流角迭代循环步骤和电流幅值迭代循环步骤，采用弱磁区效率最优控制方式包括弱磁电流角迭代循环步骤和电流幅值迭代循环步骤。The present invention does not calculate parameters such as inductance of AC and direct axes, permanent magnetic flux linkage, etc. The search method of the present invention is based on the idea of the golden section, and can obtain the current work with the smallest current amplitude under the given torque command, speed command and motor magnetization state point to realize the optimal control of the efficiency of the motor in the full-speed domain under a certain magnetization state. When the motor runs below the base speed value, it is the constant speed region, and above the base speed value is the field weakening region. In order to achieve the best efficiency in the full speed domain, the MTPA control method of the present invention obtains the current operating point with the smallest current amplitude when the base speed value is below the base speed value. Current trajectory; when the motor is running above the base speed value, the current operating point with the smallest current amplitude is obtained by the optimal control method of the field weakening area as the current trajectory; the MTPA control method includes the current angle iteration loop step and the current amplitude iteration loop step , the optimal control method of the field weakening region efficiency includes the iterative loop step of the field weakening current angle and the iterative loop step of the current amplitude.

考虑到电感和永磁磁链的非线性，电流幅值难以通过转矩公式直接求得，所以在电流角(弱磁电流角)迭代过程中嵌套了电流幅值迭代，电流幅值迭代过程中转矩的计算使用了电机非线性负载交直轴磁链模型，考虑了电感和永磁磁链非线性的影响，计算结果准确。使用该非线性负载磁链模型可以准确的计算电机转矩、负载电压等，不再需要计算电感，永磁磁链等参数，计算量小，计算速度快，能够准确模拟永磁同步电机不同磁化状态下、不同负载情况下铁心饱和程度的变化规律，实现电机的准确建模。Considering the nonlinearity of the inductance and the permanent magnet flux linkage, the current amplitude is difficult to obtain directly through the torque formula, so the current amplitude iteration is nested in the current angle (weakening current angle) iteration process, and the current amplitude iteration process is The calculation of the medium torque uses the non-linear load DC-axis flux linkage model of the motor, taking into account the nonlinear effects of inductance and permanent magnet flux linkage, and the calculation results are accurate. Using this nonlinear load flux linkage model, the motor torque, load voltage, etc. can be accurately calculated, and parameters such as inductance and permanent magnet flux linkage are no longer required. The variation law of the saturation degree of the iron core under different load conditions can realize the accurate modeling of the motor.

利用上述搜索方法得到可调磁通电机在任一磁化状态下进行全速域效率最优控制时的电流轨迹，根据上述电流轨迹搜索方法得到电机各个磁化状态下进行全速域效率最优控制时的电流轨迹，首先确定电机的运行范围，电机在不同磁化状态下能实现的最大的转矩-转速范围即为电机的运行范围；然后基于效率最优的原则确定电机在运行范围内各个工作点的最优磁化状态，对电机运行范围内的每一个转矩-转速工作点来说，若只有某一个磁化状态能实现该转矩-转速点，则电机全速域效率最优控制运行至该点时需选择该磁化状态，若有多个不同的磁化状态均能实现该转矩-转速点，则电机全速域效率最优控制运行至该点时需选择在该点运行效率最高的磁化状态，根据所选择的磁化状态制作可调磁通电机全速域效率最优控制电机最佳磁化状态查询图。确定可调磁通电机在全速域运行范围内各个工作点的最佳磁化状态后，结合上述电流轨迹搜索方法得到的电机各个磁化状态下进行全速域效率最优控制时的电流轨迹，可以确定电机在进行全速域效率最优控制时的磁化状态和电流轨迹，将可调磁通电机全速域效率最优控制时选择的磁化状态和搜索的电流轨迹作为样本，对神经网络模型进行训练、测试与验证。可调磁通电机全速域效率最优在线控制神经网络模型的输入为电机的转速、转矩、电流极限值和电压极限值，输出为电机的磁化状态、电流幅值与电流角(或直轴电流与交轴电流)，该模型不仅可以输出样本数据中相应工作点的电流轨迹，还可以输出样本数据以外的工作点的电流轨迹，即可以输出所有工作点的电流轨迹。将可调磁通电机全速域效率最优控制神经网络模型(可以用输入输出的函数关系来表达)加载至DSP或FPGA控制器中，可以实现可调磁通电机全速域效率最优在线控制。The above search method is used to obtain the current trajectory of the adjustable flux motor when the full-speed domain efficiency optimal control is performed in any magnetization state. , first determine the operating range of the motor, the maximum torque-speed range that the motor can achieve under different magnetization states is the operating range of the motor; then, based on the principle of optimal efficiency, determine the optimal operating point of the motor within the operating range. Magnetization state, for each torque-speed operating point within the motor operating range, if only a certain magnetization state can achieve the torque-speed point, then the motor full-speed domain efficiency optimal control operation to this point needs to be selected. In this magnetization state, if there are multiple different magnetization states that can achieve this torque-speed point, the optimal control of the motor’s full-speed domain efficiency to this point needs to select the magnetization state with the highest operating efficiency at this point. The magnetization state of the adjustable flux motor is used to make a query diagram of the optimal magnetization state of the adjustable flux motor for the optimal control of the full-speed domain efficiency of the motor. After determining the optimal magnetization state of each operating point of the adjustable flux motor in the full-speed domain operating range, combined with the current trajectory of the motor under each magnetization state obtained by the above-mentioned current trajectory search method for optimal control of the full-speed domain efficiency, the motor can be determined. The magnetization state and current trajectory during the optimal control of the full-speed domain efficiency, the selected magnetization state and the searched current trajectory during the full-speed domain efficiency optimal control of the adjustable-flux motor are used as samples to train, test and evaluate the neural network model. verify. The input of the neural network model for the optimal online control of the full-speed domain efficiency of the adjustable flux motor is the motor's speed, torque, current limit and voltage limit, and the output is the motor's magnetization state, current amplitude and current angle (or direct axis). Current and quadrature axis current), the model can not only output the current trajectory of the corresponding operating point in the sample data, but also output the current trajectory of the operating point outside the sample data, that is, it can output the current trajectory of all operating points. By loading the neural network model (which can be expressed by the functional relationship of input and output) to the DSP or FPGA controller, the optimal control of the full-speed domain efficiency of the adjustable-flux motor can be realized online.

具体实施方式一：下面结合图1～图9说明本实施方式，本实施方式所述可调磁通永磁同步电机全速域效率最优控制磁化状态选择方法，该方法为：Embodiment 1: The present embodiment will be described below with reference to FIGS. 1 to 9 . The method for selecting the optimal control magnetization state for the full-speed domain efficiency of an adjustable-flux permanent magnet synchronous motor described in this embodiment is as follows:

步骤一、在给定的电机磁化状态、转矩指令、转速指令、电压极限、电流极限下，根据全速域效率最优控制电流轨迹搜索方法分别获取m个不同磁化状态下电机运行电流幅值最小的电流工作点，得到在m个不同磁化状态下电机全速域效率最优控制时的电机效率MAP图； Step 1. Under the given motor magnetization state, torque command, speed command, voltage limit, and current limit, obtain the minimum current amplitude of the motor under m different magnetization states according to the full-speed domain efficiency optimal control current trajectory search method. The current operating point is obtained, and the MAP map of the motor efficiency when the motor efficiency is optimally controlled in the full speed domain under m different magnetization states is obtained;

图4～7给出的是m＝4个磁化状态分别对应的采用全速域效率最优控制时的效率MAP图。Figures 4 to 7 show the efficiency MAP diagrams corresponding to m=4 magnetization states when the optimal control of the efficiency in the full-speed domain is adopted.

本步骤中m取值的范围为：m＞3，本发明中以m取4为例(磁化状态为25％、50％、75％、100％)，这几个是典型磁化状态。也可以令m取6(磁化状态为25％、40％、50％、70％、85％、100％)，在实际应用时还可根据实际需要设置其它数量及数值的磁化状态。步骤二、根据步骤一所述的m个不同磁化状态下电机全速域效率最优控制时的电机效率MAP图确定电机的运行范围，所述电机的运行范围是电机在不同磁化状态下能实现的最大的转矩-转速范围；In this step, the range of m value is: m>3. In the present invention, m is taken as 4 as an example (magnetization states are 25%, 50%, 75%, 100%), which are typical magnetization states. M can also be set to 6 (magnetization states are 25%, 40%, 50%, 70%, 85%, 100%), and other numbers and values of magnetization states can also be set according to actual needs in practical applications. Step 2: Determine the operating range of the motor according to the motor efficiency MAP map when the efficiency of the motor in the full speed domain is optimally controlled under m different magnetization states described in step 1, and the operating range of the motor is achievable by the motor in different magnetization states Maximum torque-speed range;

步骤四、根据步骤三所选择的磁化状态制作可调磁通电机全速域效率最优控制电机最佳磁化状态查询图，如图8所示； Step 4. According to the magnetization state selected in Step 3, make a query map of the optimal magnetization state of the adjustable magnetic flux motor for the full-speed domain efficiency optimal control motor, as shown in Figure 8;

在最佳磁化状态查询图的基础上还可以进一步制作可调磁通电机全速域效率最优控制电机效率MAP图，如图9所示，其过程为：确定可调磁通电机在全速域运行范围内各个工作点的最佳磁化状态后，结合所述全速域效率最优控制电流轨迹搜索方法得到的电机各个磁化状态下进行全速域效率最优控制时的电流轨迹，可以确定电机在进行全速域效率最优控制时的所选择的磁化状态和电流轨迹，制作出可调磁通电机全速域效率最优控制电机效率MAP图；On the basis of the optimal magnetization state query map, a MAP map of the optimal control motor efficiency in the full-speed domain of the adjustable-flux motor can be further made, as shown in Figure 9. The process is: determine that the adjustable-flux motor runs in the full-speed domain After the optimal magnetization state of each operating point within the range, combined with the current trajectory of the motor under each magnetization state obtained by the full-speed optimal control current trajectory search method under the full-speed domain efficiency optimal control, it can be determined that the motor is in full-speed efficiency control. According to the selected magnetization state and current trajectory during the optimal control of the domain efficiency, the MAP map of the motor with the optimal control of the full-speed domain efficiency of the adjustable flux motor is made;

可以看出，通过使用可调磁通永磁同步电机全速域效率最优控制电机磁化状态选择方法可以确定电机全速域效率最优控制时电机在各个工作点最优的磁化状态，通过调磁控制和弱磁控制，可以使电机的转速范围和运行效率得到进一步提高。It can be seen that by using the optimal control method of the magnetization state of the adjustable magnetic flux permanent magnet synchronous motor in the full speed domain, the optimal magnetization state of the motor at each operating point can be determined when the motor efficiency is optimally controlled in the full speed domain. And field weakening control, the speed range and operating efficiency of the motor can be further improved.

全速域效率最优控制电流轨迹搜索方法：电机运行在基速值以下时，在给定的转矩指令、转速指令、电压极限、电流极限下，采用MTPA控制方式获取电流幅值最小的电流工作点作为电流轨迹；电机运行在基速值以上时，在给定的转矩指令、转速指令、电压极限、电流极限下，采用弱磁区效率最优控制方式获取电流幅值最小的电流工作点作为电流轨迹；Full-speed domain efficiency optimal control current trajectory search method: When the motor is running below the base speed value, under the given torque command, speed command, voltage limit, and current limit, the MTPA control method is used to obtain the current work with the smallest current amplitude. point as the current trajectory; when the motor runs above the base speed value, under the given torque command, speed command, voltage limit, and current limit, the optimal control method of field weakening efficiency is used to obtain the current operating point with the smallest current amplitude as the current operating point. current trace;

采用MTPA控制方式获取电流幅值最小的电流工作点的过程包括包括电流角迭代循环步骤和电流幅值迭代循环步骤，首先进行电流角迭代循环步骤，电流角迭代方向为电流幅值减小的方向；在进行电流角迭代过程中，嵌套电流幅值迭代循环步骤，用以确定每个电流角对应的电流幅值，电流幅值的迭代方向为给定转矩与实际转矩误差减小的方向，当电流角的迭代区间小于给定电流角迭代精度，认为电流幅值已经收敛至最小值，输出MTPA 电流轨迹；The process of using the MTPA control method to obtain the current operating point with the smallest current amplitude includes the current angle iteration cycle step and the current amplitude iteration cycle step. First, the current angle iteration cycle step is performed, and the current angle iteration direction is the direction in which the current amplitude decreases. ;In the process of current angle iteration, the current amplitude iteration loop steps are nested to determine the current amplitude corresponding to each current angle, and the iteration direction of the current amplitude is the reduction of the error between the given torque and the actual torque. direction, when the iteration interval of the current angle is less than the given current angle iteration accuracy, the current amplitude is considered to have converged to the minimum value, and the MTPA current trajectory is output;

首先建立电机非线性负载交直轴磁链模型：First of all, establish a model of the non-linear load AC-direction flux linkage of the motor:

针对永磁同步电机不同磁化状态下、不同负载情况下铁心饱和程度变化明显，电机参数变化明显的特点，首先提出并建立一种非线性磁链模型，来模拟电机在不同磁化状态下、不同负载情况下的非线性特性。Aiming at the obvious changes of iron core saturation and motor parameters under different magnetization states and different loads of permanent magnet synchronous motors, a nonlinear flux linkage model is proposed and established to simulate the motor under different magnetization states and different loads. the nonlinear characteristics of the case.

在电机的电流极限范围内等距或不等距的选取一系列电流工作点，如电流幅值选取范围为(0，2，4，...)，电流角选取范围为(0°，5°，10°，...)，所选取的电流工作点间距由电机的饱和程度决定，需要保证相邻两电流工作点之间的铁心磁导率保持不变，铁心可以作为线性材料处理。采用仿真或实验的方式，计算所选取的电流工作点对应的电机负载交、直轴磁链数据，并将得到的负载交、直轴磁链数据进行插值，得到电流极限范围内所有电流工作点的负载交、直轴磁链模型，即永磁同步电机的非线性磁链模型：Select a series of current operating points equidistantly or unequally within the current limit range of the motor. For example, the current amplitude selection range is (0, 2, 4, ...), and the current angle selection range is (0°, 5 °, 10°, ...), the selected current operating point spacing is determined by the saturation degree of the motor. It is necessary to ensure that the core magnetic permeability between two adjacent current operating points remains unchanged, and the iron core can be treated as a linear material. By means of simulation or experiment, calculate the motor load AC and direct-axis flux linkage data corresponding to the selected current operating point, and interpolate the obtained load AC and direct-axis flux linkage data to obtain all current operating points within the current limit range. The load alternating and direct-axis flux linkage model, that is, the nonlinear flux linkage model of the permanent magnet synchronous motor:

ψ _d(I，θ)＝ψ _d(i _d，i _q) ψ _d (I, θ)=ψ _d ( _id , i _q )

ψ _q(I，θ)＝ψ _q(i _d，i _q) ψ _q (I, θ)=ψ _q ( _id , i _q )

直轴磁链模型：ψ _d(I，θ)＝ψ _d(i _d，i _q)，根据电机的交直轴电流就可以对应计算出电机的直轴磁链ψ _d。 The direct-axis flux linkage model: ψ _d (I, θ)=ψ _d ( _id , i _q ), the direct-axis flux linkage ψ _d of the motor can be calculated correspondingly according to the motor’s AC and direct-axis currents.

交轴磁链模型：ψ _q(I，θ)＝ψ _q(i _d，i _q)，根据电机的交直轴电流就可以对应计算出电机的交轴磁链ψ _q。 The quadrature flux linkage model: ψ _q (I, θ)=ψ _q ( _id , i _q ), the quadrature axis flux linkage ψ _q of the motor can be calculated correspondingly according to the quadrature axis current of the motor.

根据得到的非线性磁链模型，可以准确地计算电机的电磁转矩、负载电压等，电磁转矩和负载电压的计算公式如下所示：According to the obtained nonlinear flux linkage model, the electromagnetic torque and load voltage of the motor can be accurately calculated. The calculation formulas of electromagnetic torque and load voltage are as follows:

转矩计算公式：Torque calculation formula:

其中，T _e(I，θ)为电磁转矩，p为电机极对数，i _d为电机的直轴电流，i _q为电机的交轴电流，ψ _d为电机的直轴磁链，ψ _q为电机的交轴磁链。 Among them, T _e (I, θ) is the electromagnetic torque, p is the number of pole pairs of the motor, _id is the direct axis current of the motor, i _q is the quadrature axis current of the motor, ψ _d is the direct axis flux linkage of the motor, ψ _q is the quadrature flux linkage of the motor.

电压幅值

Voltage amplitude

其中直轴电压

where the direct axis voltage

交轴电压

Axial voltage

该模型结合永磁同步电机考虑铁心饱和时可以处理为分段线性模型的特点，只需要计算电机额定运行电流范围内的一小部分电流工作点对应的负载磁链，再利用分段线性的特点插值得到所有电流工作点的负载磁链，同时不再需要计算电感，永磁磁链等参数，该模型计算量小，计算速度快，且能够准确模拟永磁同步电机不同磁化状态下、不同负载情况下铁心饱和程度的变化规律，实现电机的准确建模。This model combines the characteristics of the permanent magnet synchronous motor that can be treated as a piecewise linear model when considering the core saturation. It only needs to calculate the load flux linkage corresponding to a small part of the current operating point within the rated operating current range of the motor, and then use the feature of piecewise linearity. The load flux linkage of all current operating points is obtained by interpolation, and it is no longer necessary to calculate parameters such as inductance and permanent magnet flux linkage. The model has a small amount of calculation and a fast calculation speed, and can accurately simulate the permanent magnet synchronous motor under different magnetization states and different loads. The variation law of the saturation degree of the iron core under different circumstances can realize the accurate modeling of the motor.

下面给出一个模型实施例：以一个极数为6，槽数为45，额定转速为2100转/分，饱和去磁后额定转矩为 12.2Nm的串并联磁路型永磁同步电机为例，通过有限元仿真的手段获得电机的非线性磁链模型。此时电机磁化状态为饱和去磁，电机的电流给定为：直轴电流i _d取值为(0，-2，-4，-6，-8，-10，-12)(A)，共7个离散的电流点；交轴电流i _q取值为(0，2，4，6，8，10，12)(A)，共7个离散的电流点；共有7×7＝49个离散的电流工作点。通过有限元仿真软件，仿真计算得到电机在饱和去磁状态下在上述的49个电流工作点处的电机直、交轴磁链，并对相邻两个电流工作点之间的其他电流工作点对应的磁链进行插值，得到串并联永磁同步电机在电流极限值范围内所有电流工作点对应的直、交轴负载磁链，即电机的非线性磁链模型，如附图1所示。 A model example is given below: take a series-parallel magnetic circuit type permanent magnet synchronous motor with 6 poles, 45 slots, a rated speed of 2100 rpm, and a rated torque of 12.2Nm after saturation demagnetization as an example , the nonlinear flux linkage model of the motor is obtained by means of finite element simulation. At this time, the magnetization state of the motor is saturation demagnetization, and the current of the motor is given as: the value of the direct axis current _id is (0, -2, -4, -6, -8, -10, -12) (A), There are a total of 7 discrete current points; the quadrature axis current i _q takes the value of (0, 2, 4, 6, 8, 10, 12) (A), a total of 7 discrete current points; a total of 7 × 7 = 49 Discrete current operating points. Through the finite element simulation software, the direct and quadrature flux linkages of the motor at the above-mentioned 49 current operating points under the saturated demagnetization state are obtained by simulation calculation, and the other current operating points between the two adjacent current operating points are calculated. The corresponding flux linkage is interpolated to obtain the direct and quadrature load flux linkages corresponding to all current operating points of the series-parallel permanent magnet synchronous motor within the current limit value range, that is, the nonlinear flux linkage model of the motor, as shown in Figure 1.

基于双黄金分割迭代法的MTPA电流控制方式获取电流轨迹：可以在给定的转矩指令、转速指令、电机充磁状态下，获取电流幅值最小的电流工作点，从而实现MTPA控制，具体参见图2所示。The MTPA current control method based on the double golden section iteration method obtains the current trajectory: under the given torque command, speed command, and motor magnetization state, the current operating point with the smallest current amplitude can be obtained, so as to realize the MTPA control. For details, see shown in Figure 2.

该过程具有两个迭代循环：电流角迭代和电流幅值迭代。首先进行电流角的迭代，在给定的转矩指令、转速指令、电机充磁状态下，电流角迭代方向为电流幅值减小的方向；在进行电流角迭代的同时，嵌套电流幅值的迭代，用以确定每个电流角对应的电流幅值，电流幅值的迭代方向为给定转矩与实际转矩误差减小的方向。当电流角的迭代区间小于给定值，认为电流幅值已经收敛至最小值，即MTPA工作点。The process has two iteration loops: current angle iteration and current amplitude iteration. First, the iteration of the current angle is performed. Under the given torque command, speed command, and motor magnetization state, the current angle iteration direction is the direction of the current amplitude reduction; while the current angle iteration is performed, the current amplitude is nested. The iteration of , is used to determine the current amplitude corresponding to each current angle, and the iteration direction of the current amplitude is the direction in which the error between the given torque and the actual torque decreases. When the iteration interval of the current angle is less than the given value, it is considered that the current amplitude has converged to the minimum value, that is, the MTPA operating point.

电流角迭代循环步骤中的目标函数值I(λ _k)和I(β _k)通过调用电流幅值迭代循环获取，k＝1，2，3...即需要调用电流幅值迭代循环获取的目标函数值有I(λ ₁)、I(β ₁)；I(λ ₂)、I(β ₂)；I(λ ₃)、I(β ₃)...，输出至电流幅值迭代循环的参数为电流角试探点λ _k、β _k，k＝1时，θ＝λ ₁和β ₁两个值，需要进行两次电流幅值迭代循环，k＝2，3...时，θ＝λ _k或β _k，进行一次电流幅值迭代循环即可，经电流幅值迭代输出I(θ)，即相当于输出I(λ _k)或I(β _k)作为目标函数值返回电流角迭代循环中。 The objective function values I(λ _k ) and I(β _k ) in the current angle iterative loop step are obtained by calling the current amplitude iterative loop, k=1, 2, 3...that is to be obtained by calling the current amplitude iterative loop The objective function values are I(λ ₁ ), I(β ₁ ); I(λ ₂ ), I(β ₂ ); I(λ ₃ ), I(β ₃ )..., output to the current amplitude iterative loop The parameters are the current angle test points λ _k , β _k , when k=1, θ=λ ₁ and β ₁ two values, need to perform two current amplitude iterative cycles, k=2, 3... , θ =λ _k or β _k , it is enough to perform one current amplitude iteration cycle, and output I(θ) after the current amplitude iteration, which is equivalent to outputting I(λ _k ) or I(β _k ) as the objective function value to return the current angle in an iterative loop.

考虑到电感和永磁磁链的非线性，电流幅值难以通过转矩公式直接求得，所以在电流角迭代过程中嵌套了幅值迭代，幅值迭代过程中转矩的计算使用了非线性负载磁链模型，考虑了电感和永磁磁链非线性的影响，电流幅值迭代结果准确。Considering the nonlinearity of the inductance and the permanent magnet flux linkage, the current amplitude is difficult to obtain directly through the torque formula, so the amplitude iteration is nested in the current angle iteration process, and the torque calculation in the amplitude iteration process uses the non-linear method. The linear load flux linkage model takes into account the nonlinear effects of inductance and permanent magnet flux linkage, and the current amplitude iteration results are accurate.

下面介绍基于双黄金分割迭代法的MTPA控制获取电流轨迹的实施步骤：包括电流角迭代循环步骤和电流幅值迭代循环步骤。The following describes the implementation steps of the MTPA control based on the double golden section iterative method to obtain the current trajectory: including the current angle iteration loop step and the current amplitude iteration loop step.

比如[a ₁，b ₁]取值为[0°，90°]，同时设定迭代精度，随着迭代过程的不断进行，当区间长度小于给定的迭代精度时，认为迭代收敛。 For example, [a ₁ , b ₁ ] is set to be [0°, 90°], and the iteration precision is set at the same time. With the continuous progress of the iteration process, when the interval length is less than the given iteration precision, the iteration is considered to converge.

电流幅值目标函数的输入为电流角，目标函数的输出为给定转矩下的电流幅值，目标函数值I(λ _k)和I(β _k)通过调用电流幅值迭代循环获取； The input of the current amplitude objective function is the current angle, the output of the objective function is the current amplitude under a given torque, and the objective function values I(λ _k ) and I(β _k ) are obtained by calling the current amplitude iterative loop;

A3、令a _k+1＝λ _k，b _k+1＝b _k，则 A3. Let a _k+1 =λ _k , b _k+1 =b _k , then

λ _k+1＝a _k+1+0.382(b _k+1-a _k+1)＝a _k+0.382(b _k-a _k)+0.382(b _k-a _k-0.382(b _k-a _k))＝a _k+0.618(b _k-a _k) λ _k+1 = _ak+1 +0.382(b _k+ 1 -ak ₊₁ )= _ak +0.382(b _k -ak )+0.382(b _k _-ak _-0.382 (b _k _-ak ) ))= _ak +0.618(b _k _-ak )

＝β _k = _βk

β _k+1＝a _k+1+0.618(b _k+1-a _k+1)， β _k+1 = _ak+1 +0.618(b _k+ 1 -ak ₊₁ ),

本步骤中不用执行计算λ _k+1的调用步骤，因为I(λ _k+1)＝I(β _k)，即利用上次迭代的结果即可。由于使用黄金分割系数确定下一次迭代时的试探点，在进行下一次试探点选取的时候，其中一个试探点直接取自上一次迭代时的试探点，只需重新计算另一个试探点，节省了计算资源，计算量小，计算速度快。 In this step, the calling step of calculating λ _k+1 does not need to be performed, because I(λ _k+1 )=I(β _k ), that is, the result of the previous iteration can be used. Since the golden section coefficient is used to determine the probing points in the next iteration, when selecting the probing points for the next iteration, one of the probing points is directly taken from the probing points in the previous iteration, and only the other probing point needs to be recalculated, saving Computing resources, small amount of computation, fast computation speed.

A5、令a _k+1＝a _k，b _k+1＝β _k，则 A5. Let a _k+1 = _ak , b _k+1 =β _k , then

β _k+1＝a _k+1+0.618(b _k+1-a _k+1) β _k+1 = _ak+1 +0.618(b _k+ 1 -ak ₊₁ )

＝a _k+0.618(a _k+0.618(b _k-a _k)-a _k) = _ak +0.618( _ak +0.618(b _k _-ak ) _-ak )

＝a _k+0.382(b _k-a _k)＝λ _k = _ak +0.382(b _k _-ak )=λ _k

λ _k+1＝a _k+1+0.382(b _k+1-a _k+1)， λ _k+1 = _ak+1 +0.382(b _k+ 1 -ak ₊₁ ),

本步骤中不用执行计算I(β _k+1)的调用步骤，因为I(β _k+1)＝I(λ _k)，即利用上次迭代的结果即可。由于使用黄金分割系数确定下一次迭代时的试探点，在进行下一次试探点选取的时候，其中一个试探点直接取自上一次迭代时的试探点，只需重新计算另一个试探点，节省了计算资源，计算量小，计算速度快。 In this step, there is no need to perform the calling step of calculating I(β _k+1 ), because I(β _k+1 )=I(λ _k ), that is, the result of the previous iteration can be used. Since the golden section coefficient is used to determine the probing points in the next iteration, when selecting the probing points for the next iteration, one of the probing points is directly taken from the probing points in the previous iteration, and only the other probing point needs to be recalculated, saving Computing resources, small amount of computation, fast computation speed.

A7、令k＝k+1；A7. Let k=k+1;

输出MTPA电流轨迹为：电流幅值I＝I(λ _k)、电流角θ＝λ _k的工作点，输入不同的转速、转矩可获取一系列工作点数据。 The output MTPA current trajectory is: the current amplitude I=I(λ _k ) and the current angle θ=λ _k at the operating point, and a series of operating point data can be obtained by inputting different rotational speeds and torques.

k＝1时，将试探点初值λ ₁、β ₁输入至电流幅值迭代中，通过调用电流幅值迭代循环计算出目标函数值I(λ ₁)、I(β ₁)并返回电流角迭代循环中，根据步骤A2的判断结果决定计算k+1时计算哪个试探点，k+1时的目标函数值也是调用电流幅值迭代循环完成，根据步骤A8判断迭代是否收敛，若不收敛继续迭代循环；若收敛且满足步骤A9的电流极限、电压极限要求，输出MTPV轨迹，若收敛但不满足电流极限、电压极限要求，证明***输入的参数偏差大，则重新输入转矩、转速指令，从头重新执行两个迭代循环。 When k=1, input the initial values λ ₁ and β ₁ of the probing points into the current amplitude iteration, and calculate the objective function values I(λ ₁ ) and I(β ₁ ) by calling the current amplitude iteration loop and return the current angle In the iterative loop, according to the judgment result of step A2, it is decided which test point to calculate when k+1 is calculated. The objective function value when k+1 is also called the current amplitude iteration loop is completed, according to step A8 to judge whether the iteration has converged, if not, continue Iterative loop; if it converges and meets the current limit and voltage limit requirements of step A9, output the MTPV trajectory; if it converges but does not meet the current limit and voltage limit requirements, it proves that the deviation of the parameters input by the system is large, then re-input the torque and speed commands, Re-execute both iteration loops from the beginning.

比如当电流极限值为12A，电流值的初值区间定为[0A，12A]，同时设定迭代精度，随着迭代过程的不断进行，当区间长度小于给定的迭代精度时，认为迭代收敛。For example, when the current limit value is 12A, the initial value interval of the current value is set as [0A, 12A], and the iteration accuracy is set at the same time. As the iteration process continues, when the interval length is less than the given iteration accuracy, the iteration is considered to converge. .

转矩误差目标函数f(I)按

获取，其中：

为给定转矩，T _e(I，θ)为电流角θ对应的转矩，电流角θ在电流幅值迭代的过程中不变，为一确定值，电流角θ为电流角迭代循环输出的电流角试探点λ _k、β _k；I为电流幅值，i _d＝I sinθ，i _q＝I cosθ； The torque error objective function f(I) presses

Get, where:

is a given torque, T _e (I, θ) is the torque corresponding to the current angle θ, the current angle θ does not change during the iteration of the current amplitude, and is a certain value, and the current angle θ is the output of the current angle iteration cycle The current angle test points λ _k , β _k ; I is the current amplitude, id =I _sinθ , i _q =I cosθ;

转矩T _e(I，θ)由电机非线性负载交直轴磁链模型计算输出，按如下公式获取： The torque T _e (I, θ) is calculated and output by the non-linear load DC-axis flux linkage model of the motor, and can be obtained according to the following formula:

B4、令c _h+1＝μ _h，d _h+1＝d _h，则 B4. Let c _h+1 = μ _h , d _h+1 =d _h , then

μ _h+1＝c _h+1+0.382(d _h+1-c _h+1)＝c _h+0.382(d _h-c _h)+0.382(d _h-c _h-0.382(d _h-c _h))＝c _h+0.618(d _h-c _h) μ _h+1 =c _h+1 +0.382(d _h+1 -c _h+1 )=c _h +0.382(d _h -c _h )+0.382(d _h -c _h -0.382(d _h -c _h ))=c _h +0.618(d _h -c _h )

＝v _h =v _h

v _h+1＝c _h+1+0.618(d _h+1-c _h+1)， v _h+1 =c _h+1 +0.618(d _h+1 -c _h+1 ),

B5、令c _h+1＝c _h，d _h+1＝v _h，则 B5. Let c _h+1 = _ch , dh ₊₁ =v _h , then

v _h+1＝c _h+1+0.618(d _h+1-c _h+1)＝c _h+0.618(c _h+0.618(d _h-c _h)-c _h)＝c _h+0.382(d _h-c _h)＝μ _h v _h+1 =c _h+1 +0.618(d _h+1 -c _h+1 )=c _h +0.618(c _h +0.618(d _h -c _h )-c _h )=c _h +0.382(d _h - c _h ) = μ _h

μ _h+1＝c _h+1+0.382(d _h+1-c _h+1)， μ _h+1 =c _h+1 +0.382(d _h+1 −c _h+1 ),

B6、令h＝h+1，B6. Let h=h+1,

基于双黄金分割迭代法的弱磁区效率最优控制获取电流轨迹：可以在给定的转矩指令、转速指令、电压极限、电流极限下，获取电流幅值最小的电流工作点，实现弱磁区效率最优控制，具体参见图3所示。Optimal control of field-weakening region efficiency based on double golden section iteration method to obtain current trajectory: Under the given torque command, speed command, voltage limit, and current limit, the current operating point with the smallest current amplitude can be obtained to achieve field-weakening region efficiency The optimal control is shown in Figure 3 for details.

该过程具有两个迭代循环：弱磁电流角迭代和电流幅值迭代。首先进行弱磁电流角的迭代，在给定的转矩指令、转速指令、电压极限和电流极限下，电流角迭代方向为电压极限下，电流幅值减小的方向；在进行电流角迭代的同时，嵌套电流幅值的迭代，用以确定每个电流角对应的电流幅值，电流幅值的迭代方向为给定转矩与实际转矩误差减小的方向。当电流角的迭代区间小于给定值，认为电流幅值已经收敛至最小值，即弱磁区效率最优控制工作点。The process has two iteration loops: field weakening current angle iteration and current amplitude iteration. First, the field weakening current angle is iterated. Under the given torque command, speed command, voltage limit and current limit, the current angle iteration direction is the direction in which the current amplitude decreases under the voltage limit. At the same time, the iteration of the nested current amplitude is used to determine the current amplitude corresponding to each current angle, and the iteration direction of the current amplitude is the direction in which the error between the given torque and the actual torque decreases. When the iteration interval of the current angle is less than the given value, it is considered that the current amplitude has converged to the minimum value, that is, the optimal control operating point of the field weakening region efficiency.

下面介绍基于双黄金分割迭代法的弱磁区效率最优控制获取电流轨迹的实施步骤：包括弱磁电流角迭代循环步骤和电流幅值迭代循环步骤。The following describes the implementation steps for obtaining the current trajectory by the optimal control of the field weakening region efficiency based on the double golden section iterative method: including the field weakening current angle iterative loop step and the current amplitude iterative loop step.

调用电流幅值迭代循环输出U(θ)＝U(β _k)或U(λ _k)，本实施方式只用到U(β _k)，负载电压目标函数的输入为电流角，输出为给定转矩、转速下的负载电压。 Call the current amplitude iterative loop to output U(θ)=U(β _k ) or U(λ _k ), this embodiment only uses U(β _k ), the input of the load voltage objective function is the current angle, and the output is a given Load voltage at torque and speed.

电流幅值目标函数的输入为电流角，输出为给定转矩、转速下的电流幅值。The input of the current amplitude objective function is the current angle, and the output is the current amplitude at a given torque and speed.

C4、令a _k+1＝λ _k，b _k+1＝b _k，则 C4. Let a _k+1 =λ _k , b _k+1 =b _k , then

＝β _k = _βk

C6、令a _k+1＝a _k，b _k+1＝β _k，则 C6. Let a _k+1 = _ak and b _k+1 = _βk , then

＝a _k+0.382(b _k-a _k)＝λ _k = _ak +0.382(b _k _-ak )=λ _k

C8、令k＝k+1；C8, let k=k+1;

弱磁区效率最优控制电流轨迹为：电流幅值I＝I(λ _k)、电流角θ＝λ _k，输入不同的转速、转矩可获取一系列工作点数据。 The optimal control current trajectory of the field weakening area efficiency is: current amplitude I=I(λ _k ), current angle θ=λ _k , inputting different rotational speeds and torques can obtain a series of operating point data.

k＝1时，将试探点初值λ ₁、β ₁输入至电流幅值迭代中，通过调用电流幅值迭代循环计算出目标函数值I(λ ₁)、I(β ₁)、U(β ₁)并返回电流角迭代循环中，根据步骤C2的判断结果决定计算k+1时计算哪个试探点，k+1时的目标函数值也是调用电流幅值迭代循环完成，根据步骤C8判断迭代是否收敛，若不收敛继续迭代循环；若收敛且满足步骤C10的电流极限要求，输出弱磁区效率最优控制电流轨迹，若收敛但不满足电流极限要求，证明***输入的参数偏差大，则重新输入转矩、转速指令，从头重新执行两个迭代循环。 When k=1, input the initial values λ ₁ and β ₁ of the probing points into the current amplitude iteration, and calculate the objective function values I(λ ₁ ), I(β ₁ ), U(β by calling the current amplitude iteration loop. ₁ ) and return to the current angle iteration loop, according to the judgment result of step C2 to determine which test point to calculate when k+1 is calculated, the objective function value at k+1 is also called the current amplitude iteration loop to complete, according to step C8 to judge whether the iteration is Convergence, if not, continue the iterative cycle; if it converges and meets the current limit requirements of step C10, output the optimal control current trajectory of the field weakening region efficiency; Torque, speed command, re-execute two iterative cycles from the beginning.

转矩误差目标函数f(I)按

获取，其中：

为给定转矩，T _e(I，θ)为电流角θ对应的转矩，电流角θ为弱磁电流角迭代循环输出的电流角试探点λ _k、β _k；I为电流幅值； The torque error objective function f(I) presses

Get, where:

is a given torque, T _e (I, θ) is the torque corresponding to the current angle θ, and the current angle θ is the current angle test points λ _k and β _k output by the field-weakening current angle iteration cycle; I is the current amplitude;

＝v _h =v _h

v _h+1＝c _h+1+0.618(d _h+1-c _h+1)， v _h+1 =c _h+1 +0.618(d _h+1 -c _h+1 ),

B6、令h＝h+1，B6. Let h=h+1,

通过上述的基于双黄金分割迭代法的全速域效率最优控制电流轨迹搜索方法可以获得任一工作点(给定转矩指令、转速指令、电压极限、电流极限)在全速域范围内(基速值以下的恒转矩区)和基速值以上的弱磁区实现效率最优控制时应该施加的电流幅值及相位，该搜索方法迭代收敛速度快，计算量小，且考虑了铁心饱和等非线性因素的影响，计算结果准确。Through the above-mentioned double golden section iteration method based on the full-speed optimal control current trajectory search method, any operating point (given torque command, speed command, voltage limit, current limit) can be obtained within the full-speed domain (base speed The current amplitude and phase that should be applied to achieve optimal efficiency control in the constant torque region below the base speed value) and the field weakening region above the base speed value. The influence of linear factors, the calculation results are accurate.

电机在恒转矩区运行时，电机的负载端电压未达到电机极限值，恒转矩区的效率最优控制电流轨迹搜索方法基于黄金分割的思想，可以在给定的转矩指令、转速指令下，获取电机在恒转矩区运行时电流幅值最小的电流工作点，实现恒转矩区的效率最优控制、即MTPA控制；电机在弱磁区运行时，若继续采用MTPA控制，电机的负载端电压会超过电压极限值，必须增加直轴弱磁电流以降低电机负载端电压，弱磁区的效率最优控制电流轨迹搜索方法基于黄金分割的思想，可以在给定的转矩指令、转速指令、电压极限、电流极限下，获取电机在弱磁区运行时电流幅值最小的电流工作点，实现弱磁区的效率最优控制。When the motor is running in the constant torque area, the load terminal voltage of the motor does not reach the motor limit value. The optimal control current trajectory search method in the constant torque area is based on the idea of the golden section. , obtain the current operating point with the smallest current amplitude when the motor is running in the constant torque zone, and realize the optimal control of the efficiency in the constant torque zone, that is, MTPA control; when the motor is running in the field weakening zone, if the MTPA control is continued, the motor's The load terminal voltage will exceed the voltage limit value, and the direct-axis field weakening current must be increased to reduce the motor load terminal voltage. The efficiency of the field weakening area is optimally controlled. The current trajectory search method is based on the idea of the golden section. Under the command, voltage limit, and current limit, obtain the current operating point with the smallest current amplitude when the motor is running in the field weakening area, and realize the optimal control of the efficiency in the field weakening area.

使用该搜索方法计算串并联可调磁通永磁同步电机在四个典型磁化状态下全速域效率最优控制时的电流轨迹并计算施加相应电流轨迹后的电机效率MAP图，如附图4-7所示。25％磁化状态对应的电机效率MAP图如图4所示，50％磁化状态对应的电机效率MAP图如图5所示，75％磁化状态对应的电机效率MAP图如图6所示，100％磁化状态对应的电机效率MAP图如图7所示，根据计算过程可以看出该搜索方法的计算量小，计算速度快。Use this search method to calculate the current trajectories of the series-parallel adjustable flux permanent magnet synchronous motor under four typical magnetization states when the efficiency is optimally controlled in the full-speed domain and calculate the MAP map of the motor efficiency after applying the corresponding current trajectories, as shown in Figure 4- 7 is shown. The MAP map of motor efficiency corresponding to 25% magnetization state is shown in Figure 4, the MAP map of motor efficiency corresponding to 50% magnetization state is shown in Figure 5, and the MAP map of motor efficiency corresponding to 75% magnetization state is shown in Figure 6, 100% The MAP map of the motor efficiency corresponding to the magnetization state is shown in Figure 7. According to the calculation process, it can be seen that the search method has a small amount of calculation and a fast calculation speed.

具体实施方式二：下面结合图10说明本实施方式，本实施方式所述可调磁通永磁同步电机全速域效率最优控制在线控制方法，采用实施方式一所述的可调磁通永磁同步电机全速域效率最优控制磁化状态选择方法获取电机在不同磁化状态下、全速域范围内的多个电流工作点，包括基速值以下采用MTPA控制方式获取的电流工作点，和基速值以上采用弱磁区效率最优控制方式获取的电流工作点；Embodiment 2: The present embodiment will be described below with reference to FIG. 10. The on-line control method for the optimal control of the full-speed domain efficiency of an adjustable-flux permanent magnet synchronous motor described in this embodiment adopts the adjustable-flux permanent magnet synchronous motor described in Embodiment 1. The selection method of the optimal control of the efficiency of the synchronous motor in the full speed domain The magnetization state selection method obtains multiple current operating points of the motor under different magnetization states and in the full speed domain, including the current operating point obtained by the MTPA control method below the base speed value, and the base speed value The above current operating point obtained by the optimal control method of the field weakening region efficiency;

将这些电流工作点作为样本数据，训练生成全速域效率最优控制神经网络模型，全速域效率最优控制神经网络模型的输入为电机的转速、转矩、电流极限值和电压极限值，输出为电机的磁化状态、电流幅值与电流角；Taking these current operating points as sample data, the training generates the full-speed domain efficiency optimal control neural network model. The input of the full-speed domain efficiency optimal control neural network model is the speed, torque, current limit and voltage limit of the motor, and the output is The magnetization state, current amplitude and current angle of the motor;

将全速域效率最优控制神经网络模型加载至DSP或FPGA控制器中，可以实现永磁同步电机在全速域范围内效率最优在线控制，根据电机运行的工作点确定最佳磁化状态，根据电机的转速和转矩实时输出电流幅值与电流角用于控制电机运行。Loading the full-speed domain efficiency optimal control neural network model into the DSP or FPGA controller can realize the optimal online control of the permanent magnet synchronous motor in the full-speed domain range, and determine the optimal magnetization state according to the operating point of the motor. The real-time output current amplitude and current angle of the speed and torque are used to control the motor operation.

神经网络训练过程为：利用上述搜索方法得到可调磁通永磁同步电机在不同充磁状态下，部分工作点下的电流轨迹，将这些电流轨迹作为样本数据，对神经网络模型进行训练、测试与验证，当误差小于设定值后训练完成，神经网络结构以及各个神经元的权重和偏置参数确定，，利用BP算法根据神经网络输出值与样本值之间的误差的梯度，沿着神经网络计算的逆向方向对各节点的权值与偏置进行调节，在每个样本的训练过程中，各节点的权值和偏置都依据误差得到调节，当误差小于设定值后训练完成，神经网络结构以及各个神经元的权重和偏置参数确定，最大功率控制神经网络模型建立完成，神经网络模型训练、测试与验证误差如图10所示，该模型不仅可以输出样本数据中相应工作点的电流轨迹，还可以输出样本数据以外的工作点的电流轨迹，即可以输出所有工作点的电流轨迹。该神经网络模型有四个输入，分别为电机的电压极限、电流极限、转速、转矩，有三个输出，分别为磁化状态、直轴电流和交轴电流，神经网络模型采用一层隐藏层，隐藏层中采用25个神经元。The neural network training process is as follows: using the above search method to obtain the current trajectories of the adjustable magnetic flux permanent magnet synchronous motor under different magnetization states and some operating points, and using these current trajectories as sample data to train and test the neural network model And verification, when the error is less than the set value, the training is completed, the neural network structure and the weight and bias parameters of each neuron are determined, and the BP algorithm is used according to the gradient of the error between the output value of the neural network and the sample value, along the neural network. The reverse direction of network calculation adjusts the weights and biases of each node. During the training process of each sample, the weights and biases of each node are adjusted according to the error. When the error is less than the set value, the training is completed. The neural network structure and the weight and bias parameters of each neuron are determined. The maximum power control neural network model is established. The training, testing and verification errors of the neural network model are shown in Figure 10. The model can not only output the corresponding working points in the sample data It can also output the current traces of operating points other than the sample data, that is, the current traces of all operating points can be output. The neural network model has four inputs, which are the voltage limit, current limit, speed, and torque of the motor, and three outputs, which are the magnetization state, the direct-axis current, and the quadrature-axis current. The neural network model uses a hidden layer. 25 neurons are used in the hidden layer.

Claims

可调磁通永磁同步电机全速域效率最优控制磁化状态选择方法，其特征在于，该方法为：The magnetization state selection method for optimal control of the full-speed domain efficiency of an adjustable-flux permanent magnet synchronous motor is characterized in that the method is as follows:

步骤一、在给定的电机磁化状态、转矩指令、转速指令、电压极限、电流极限下，根据全速域效率最优控制电流轨迹搜索方法分别获取m个不同磁化状态下电机运行电流幅值最小的电流工作点，得到在m个不同磁化状态下电机全速域效率最优控制时的电机效率MAP图；m＞3；Step 1. Under the given motor magnetization state, torque command, speed command, voltage limit, and current limit, obtain the minimum current amplitude of the motor under m different magnetization states according to the full-speed domain efficiency optimal control current trajectory search method. The current operating point is obtained, and the MAP map of the motor efficiency under the optimal control of the motor full-speed domain efficiency under m different magnetization states is obtained; m>3;

步骤二、根据步骤一所述的m个不同磁化状态下电机全速域效率最优控制时的电机效率MAP图确定电机的运行范围，所述电机的运行范围是电机在不同磁化状态下能实现的最大的转矩-转速范围；Step 2: Determine the operating range of the motor according to the motor efficiency MAP map when the efficiency of the motor in the full speed domain is optimally controlled under m different magnetization states described in step 1, and the operating range of the motor is achievable by the motor in different magnetization states Maximum torque-speed range;

步骤三、基于效率最优的原则确定电机在运行范围内各个工作点的最优磁化状态；Step 3: Determine the optimal magnetization state of each working point of the motor within the operating range based on the principle of optimal efficiency;

所述基于效率最优的原则为：对电机运行范围内的每一个转矩-转速工作点来说，若只有某一个磁化状态能实现该转矩-转速点，则电机全速域效率最优控制运行至该点时需选择该磁化状态；若有多个不同的磁化状态均能实现该转矩-转速点，则电机全速域效率最优控制运行至该点时需选择在该点运行效率最高的磁化状态；The principle based on the optimal efficiency is: for each torque-speed operating point within the motor operating range, if only a certain magnetization state can achieve the torque-speed point, the motor will be optimally controlled in the full-speed domain efficiency. When running to this point, the magnetization state needs to be selected; if there are multiple different magnetization states that can achieve this torque-speed point, the optimal control of the motor's full-speed domain efficiency should select the point with the highest operating efficiency when running to this point. magnetization state;

步骤四、根据步骤三所选择的磁化状态制作可调磁通电机全速域效率最优控制电机最佳磁化状态查询图；Step 4, according to the magnetization state selected in step 3, make a query map of the optimal magnetization state of the adjustable magnetic flux motor for the optimal control of the full-speed domain efficiency of the motor;

步骤五、可调磁通电机运行时，根据步骤四制作的最佳磁化状态查询图，即按同一工作点效率最优的原则确定在全速域内各个工作点的最佳磁化状态，实现可调磁通电机全速域效率最优控制。Step 5. When the adjustable magnetic flux motor is running, according to the optimal magnetization state query map made in step 4, that is, according to the principle of optimal efficiency at the same operating point, determine the optimal magnetization state of each operating point in the full-speed domain to realize adjustable magnetic flux. Optimal control of efficiency in the full speed domain of the motor.
根据权利要求1所述可调磁通永磁同步电机全速域效率最优控制磁化状态选择方法，其特征在于，m＝4，4个磁化状态分别为25％、50％、75％、100％。The method for selecting a magnetization state for optimal control of full-speed domain efficiency of an adjustable-flux permanent magnet synchronous motor according to claim 1, wherein m=4, and the four magnetization states are respectively 25%, 50%, 75%, and 100% .
根据权利要求1所述可调磁通永磁同步电机全速域效率最优控制磁化状态选择方法，其特征在于，m＝6，6个磁化状态分别为25％、40％、50％、70％、85％、100％。The method for selecting a magnetization state for optimal control of the full-speed domain efficiency of an adjustable-flux permanent magnet synchronous motor according to claim 1, wherein m=6, and the six magnetization states are 25%, 40%, 50%, and 70% respectively. , 85%, 100%.
根据权利要求1所述的可调磁通永磁同步电机全速域效率最优控制磁化状态选择方法，其特征在于，全速域效率最优控制电流轨迹搜索方法为：电机运行在基速值以下时，在给定的转矩指令、转速指令、电压极限、电流极限下，采用MTPA控制方式获取电流幅值最小的电流工作点作为电流轨迹；电机运行在基速值以上时，在给定的转矩指令、转速指令、电压极限、电流极限下，采用弱磁区效率最优控制方式获取电流幅值最小的电流工作点作为电流轨迹；The method for selecting a magnetization state for optimal control of full-speed domain efficiency of an adjustable-flux permanent magnet synchronous motor according to claim 1, wherein the method for searching for a current trajectory of full-speed domain efficiency optimal control is: when the motor runs below the base speed value , under the given torque command, speed command, voltage limit and current limit, the MTPA control method is used to obtain the current operating point with the smallest current amplitude as the current trajectory; when the motor runs above the base speed value, at the given rotation speed Under the torque command, speed command, voltage limit and current limit, the optimal control method of field weakening area efficiency is adopted to obtain the current operating point with the smallest current amplitude as the current trajectory;

采用MTPA控制方式获取电流幅值最小的电流工作点的过程包括电流角迭代循环步骤和电流幅值迭代循环步骤，首先进行电流角迭代循环步骤，电流角迭代方向为电流幅值减小的方向；在进行电流角迭代过程中，嵌套电流幅值迭代循环步骤，用以确定每个电流角对应的电流幅值，电流幅值的迭代方向为给定转矩与实际转矩误差减小的方向，当电流角的迭代区间小于给定电流角迭代精度，认为电流幅值已经收敛至最小值，输出MTPA电流轨迹；The process of using the MTPA control method to obtain the current operating point with the smallest current amplitude includes the current angle iteration cycle step and the current amplitude iteration cycle step. First, the current angle iteration cycle step is performed, and the current angle iteration direction is the direction in which the current amplitude decreases; In the current angle iteration process, the current amplitude iteration loop steps are nested to determine the current amplitude corresponding to each current angle. The iteration direction of the current amplitude is the direction in which the error between the given torque and the actual torque decreases. , when the iteration interval of the current angle is less than the given current angle iteration accuracy, it is considered that the current amplitude has converged to the minimum value, and the MTPA current trajectory is output;

采用弱磁区效率最优控制方式获取电流幅值最小的电流工作点的过程包括弱磁电流角迭代循环步骤和电流幅值迭代循环步骤，首先进行电流角迭代循环步骤，电流角迭代方向为电压极限下电流幅值减小的方向；在进行电流角迭代的过程中，嵌套电流幅值迭代循环步骤，用以确定每个电流角对应的电流幅值，电流幅值的迭代方向为给定转矩与实际转矩误差减小的方向，当电流角的迭代区间小于给定电流角迭代精度，认为电流幅值已经收敛至最小值，输出弱磁区效率最优控制电流轨迹。The process of obtaining the current operating point with the smallest current amplitude by adopting the optimal control method of the field weakening region efficiency includes the field weakening current angle iteration loop step and the current amplitude iteration loop step. First, the current angle iteration loop step is performed, and the current angle iteration direction is the voltage limit The direction in which the current amplitude decreases; in the process of current angle iteration, the current amplitude iteration loop steps are nested to determine the current amplitude corresponding to each current angle, and the iteration direction of the current amplitude is a given rotation. When the iteration interval of the current angle is smaller than the given current angle iteration accuracy, the current amplitude is considered to have converged to the minimum value, and the optimal control current trajectory of the field weakening area is output.
根据权利要求4所述可调磁通永磁同步电机全速域效率最优控制磁化状态选择方法，其特征在于，采用MTPA控制方式获取电流幅值最小的电流工作点的过程包括电流角迭代循环步骤和电流幅值迭代循环步骤：The method for selecting a magnetization state for optimal control of full-speed domain efficiency of an adjustable-flux permanent magnet synchronous motor according to claim 4, wherein the process of obtaining the current operating point with the smallest current amplitude by using the MTPA control method includes the step of current angle iteration and looping and current amplitude iterative loop steps:

电流角迭代循环步骤包括：The current angle iteration loop steps include:

A1、初始化电流角初值区间[a ₁，b ₁]，并计算电流角试探点初值λ ₁、β ₁： A1. Initialize the initial value interval of the current angle [a ₁ , b ₁ ], and calculate the initial values λ ₁ and β ₁ of the current angle test point:

λ ₁＝a ₁+0.382(b ₁-a ₁)、β ₁＝a ₁+0.618(b ₁-a ₁)； λ ₁ =a ₁ +0.382(b ₁ -a ₁ ), β ₁ =a ₁ +0.618(b ₁ -a ₁ );

A2、判断两电流角试探点处电流幅值目标函数值I(λ _k)和I(β _k)是否存在关系I(λ _k)＞I(β _k)，电流角迭代次数k＝1，2，3... A2. Determine whether there is a relationship between the current amplitude objective function values I(λ _k ) and I(β _k ) at the two current angle test points. I(λ _k )>I(β _k ), the current angle iteration times k=1, 2 , 3...

判断结果为是，执行步骤A3；判断结果为否执行步骤A5；If the judgment result is yes, execute step A3; if the judgment result is no, execute step A5;

电流幅值目标函数值I(λ _k)和I(β _k)通过调用电流幅值迭代循环获取； The current amplitude objective function values I(λ _k ) and I(β _k ) are obtained by calling the current amplitude iterative loop;

A3、令a _k+1＝λ _k，b _k+1＝b _k，λ _k+1＝β _k，β _k+1＝a _k+1+0.618(b _k+1-a _k+1)， A3. Let a _k+1 =λ _k , b _k+1 =b _k , λ _k+1 =β _k , β _k+1 = _ak+1 +0.618(b _k+ 1 -ak ₊₁ ),

A4、调用电流幅值迭代循环获取电流幅值目标函数值I(β _k+1)，然后执行步骤A7； A4. Invoke the current amplitude iterative loop to obtain the current amplitude objective function value I(β _k+1 ), and then execute step A7;

A5、令a _k+1＝a _k，b _k+1＝β _k，β _k+1＝λ _k，λ _k+1＝a _k+1+0.382(b _k+1-a _k+1)， A5. Let a _k+1 = _ak , b _k+1 =β _k , β _k+1 =λ _k , λ _k+1 = _ak+1 +0.382(b _k+ 1 -ak ₊₁ ),

A6、调用电流幅值迭代循环获取电流幅值目标函数值I(λ _k+1)，然后执行步骤A7； A6. Invoke the current amplitude iterative loop to obtain the current amplitude objective function value I(λ _k+1 ), and then execute step A7;

A7、令k＝k+1；A7. Let k=k+1;

A8、判断迭代是否收敛：若b _k-a _k＜L ₁，执行步骤A9；否则，返回步骤A2； A8. Determine whether the iteration is converged: if b _k _-ak <L ₁ , execute step A9; otherwise, return to step A2;

其中L ₁为电流角迭代精度； where L ₁ is the current angle iteration accuracy;

A9、判断电流工作点是否同时满足电流极限与电压极限的要求：若I(λ _k)≤I _lim&U(λ _k)≤U _lim，I _lim为给定电流极限值，U _lim为给定电压极限值，输出MTPA电流轨迹；否则，重新输入转矩、转速指令，再返回执行步骤A1； A9. Determine whether the current operating point meets the requirements of current limit and voltage limit at the same time: if I(λ _k )≤I _lim &U(λ _k )≤U _lim , I _lim is the given current limit value, and U _lim is the given voltage If the limit value is reached, output the MTPA current trajectory; otherwise, re-input the torque and speed commands, and then return to step A1;

电流轨迹为：电流幅值I＝I(λ _k)、电流角θ＝λ _k； The current trajectory is: current amplitude I=I(λ _k ), current angle θ=λ _k ;

电流幅值迭代循环步骤包括：The current amplitude iteration loop steps include:

B1、初始化电流幅值的初值区间：[c ₁，d ₁]，并计算电流幅值试探点初值μ ₁、v ₁： B1. Initialize the initial value interval of the current amplitude: [c ₁ , d ₁ ], and calculate the initial value μ ₁ and v ₁ of the current amplitude test point:

μ ₁＝c ₁+0.382(d ₁-c ₁)、v ₁＝c ₁+0.618(d ₁-c ₁)； μ ₁ =c ₁ +0.382(d ₁ −c ₁ ), v ₁ =c ₁ +0.618(d ₁ −c ₁ );

B2、计算两电流幅值试探点处的转矩误差目标函数值：f(μ ₁)、f(v ₁)， B2. Calculate the torque error objective function values at the test points of the two current amplitudes: f(μ ₁ ), f(v ₁ ),

转矩误差目标函数f(I)按
获取，其中：
为给定转矩，T _e(I，θ)为电流角θ对应的转矩，T _e(I，θ)根据电机非线性负载交直轴磁链模型计算获取；电流角θ为电流角迭代循环输出的电流角试探点λ _k、β _k；I为电流幅值； The torque error objective function f(I) presses
Get, where:
is a given torque, T _e (I, θ) is the torque corresponding to the current angle θ, T _e (I, θ) is calculated and obtained according to the non-linear load AC-direction flux linkage model of the motor; the current angle θ is the current angle iterative cycle Output current angle test points λ _k , β _k ; I is the current amplitude;

B3、判断两电流幅值试探点处转矩误差目标函数值f(μ _h)和f(v _h)是否存在关系f(μ _h)＞f(v _h)，电流幅值迭代次数h＝1，2，3... B3. Judging whether there is a relationship between the torque error objective function values f(μ _h ) and f(v _h ) at the two current amplitude test points f(μ _h )>f(v _h ), the current amplitude iteration times h=1 , 2, 3...

判断结果为是，执行步骤B4；判断结果为否执行步骤B5；If the judgment result is yes, execute step B4; if the judgment result is no, execute step B5;

B4、令c _h+1＝μ _h，d _h+1＝d _h，μ _h+1＝v _h，v _h+1＝c _h+1+0.618(d _h+1-c _h+1)， B4. Let c _h+1 = μ _h , dh ₊₁ =d _h , μ _h+1 =v _h , v _h+1 =c _h+1 +0.618(d _h+1 −c _h+1 ),

计算目标函数值f(v _h+1)，然后步骤B6； Calculate the objective function value f(v _h+1 ), then step B6;

B5、令c _h+1＝c _h，d _h+1＝v _h，v _h+1＝μ _h，μ _h+1＝c _h+1+0.382(d _h+1-c _h+1)， B5. Let c _h+1 = c _h , dh ₊₁ = v _h , v _h+1 = μ _h , μ _h+1 = c _h+1 +0.382(d _h+1 −c _h+1 ),

计算目标函数值f(μ _h+1)，然后步骤B6； Calculate the objective function value f(μ _h+1 ), then step B6;

B6、令h＝h+1，B6. Let h=h+1,

B7、判断迭代是否收敛：若d _h-c _h＜L ₂，输出给定电流角对应的电流幅值I(θ)、电压幅值U(θ)，输出结果用于电流角的迭代搜索过程；否则，返回步骤B3；其中L ₂为电流幅值迭代精度。 B7. Judging whether the iteration is converged: if d _h _-ch <L ₂ , output the current amplitude I(θ) and the voltage amplitude U(θ) corresponding to the given current angle, and the output result is used for the iterative search process of the current angle ; otherwise, return to step B3; where L ₂ is the current amplitude iteration accuracy.
根据权利要求4所述可调磁通永磁同步电机全速域效率最优控制磁化状态选择方法，其特征在于，采用弱磁区效率最优控制方式获取电流幅值最小的电流工作点的过程包括弱磁电流角迭代循环步骤和电流幅值迭代循环步骤：The method for selecting a magnetization state of an adjustable-flux permanent magnet synchronous motor in a full-speed domain efficiency optimal control mode according to claim 4, wherein the process of obtaining the current operating point with the smallest current amplitude by adopting the field-weakening region efficiency optimal control method comprises the following steps: Magnetic current angle iteration loop step and current amplitude iteration loop step:

弱磁电流角迭代循环步骤包括：The iterative loop steps of the field weakening current angle include:

C1、初始化电流角初值区间[a ₁，b ₁]，并计算电流角试探点初值λ ₁、β ₁： C1. Initialize the initial value interval of the current angle [a ₁ , b ₁ ], and calculate the initial values λ ₁ and β ₁ of the current angle test point:

λ ₁＝a ₁+0.382(b ₁-a ₁)、β ₁＝a ₁+0.618(b ₁-a ₁)； λ ₁ =a ₁ +0.382(b ₁ -a ₁ ), β ₁ =a ₁ +0.618(b ₁ -a ₁ );

C2、判断负载电压目标函数值U(β _k)和电压极限值U _lim的大小关系，若U(β _k)＞U _lim，执行步骤C6；否则，执行步骤C3； C2. Determine the magnitude relationship between the load voltage objective function value U(β _k ) and the voltage limit value U _lim , if U(β _k )>U _lim , go to step C6; otherwise, go to step C3;

负载电压目标函数值U(β _k)通过调用电流幅值迭代循环获取，电流角迭代次数k＝1，2，3...； The load voltage objective function value U(β _k ) is obtained by calling the current amplitude iterative loop, and the current angle iteration times k=1, 2, 3...;

C3、判断两电流角试探点处电流幅值目标函数值I(λ _k)和I(β _k)是否存在关系I(λ _k)＞I(β _k)， C3. Determine whether the current amplitude objective function values I(λ _k ) and I(β _k ) at the two current angle test points have a relationship I(λ _k )>I(β _k ),

判断结果为是，执行步骤C4；判断结果为否执行步骤C6；If the judgment result is yes, execute step C4; if the judgment result is no, execute step C6;

电流幅值目标函数值I(λ _k)和I(β _k)通过调用电流幅值迭代循环获取； The current amplitude objective function values I(λ _k ) and I(β _k ) are obtained by calling the current amplitude iterative loop;

C4、令a _k+1＝λ _k，b _k+1＝b _k，λ _k+1＝β _k，β _k+1＝a _k+1+0.618(b _k+1-a _k+1)， C4. Let a _k+1 =λ _k , b _k+1 =b _k , λ _k+1 =β _k , β _k+1 = _ak+1 +0.618(b _k+ 1 -ak ₊₁ ),

C5、调用电流幅值迭代循环获取电流幅值目标函数值I(β _k+1)，然后执行步骤C8； C5, call the current amplitude iterative loop to obtain the current amplitude objective function value I(β _k+1 ), and then execute step C8;

C6、令a _k+1＝a _k，b _k+1＝β _k，β _k+1＝λ _k，λ _k+1＝a _k+1+0.382(b _k+1-a _k+1)， C6. Let a _k+1 = _ak , b _k+1 =β _k , β _k+1 =λ _k , λ _k+1 = _ak+1 +0.382(b _k+ 1 -ak ₊₁ ),

C7、调用电流幅值迭代循环获取电流幅值目标函数值I(λ _k+1)，然后执行步骤C8； C7, call the current amplitude iterative loop to obtain the current amplitude objective function value I(λ _k+1 ), and then execute step C8;

C8、令k＝k+1；C8, let k=k+1;

C9、判断迭代是否收敛：若b _k-a _k＜L ₁，执行步骤C10；否则，返回步骤C2； C9. Determine whether the iteration is converged: if b _k _-ak <L ₁ , execute step C10; otherwise, return to step C2;

其中L ₁为电流角迭代精度； where L ₁ is the current angle iteration accuracy;

C10、判断电流工作点是否同时满足电流极限的要求：若I(λ _k)≤I _lim，I _lim为给定电流极限值，输出弱磁区效率最优控制电流轨迹；否则，重新输入转矩、转速指令，再返回执行步骤C1； C10. Determine whether the current operating point meets the requirements of the current limit at the same time: if I(λ _k )≤I _lim , and I _lim is the given current limit value, output the optimal control current trajectory of the field weakening area efficiency; otherwise, re-input the torque, speed command, and then return to step C1;

电流轨迹为：电流幅值I＝I(λ _k)、电流角θ＝λ _k； The current trajectory is: current amplitude I=I(λ _k ), current angle θ=λ _k ;

电流幅值迭代循环步骤包括：The current amplitude iteration loop steps include:

B1、初始化电流幅值的初值区间：[c ₁，d ₁]，并计算电流幅值试探点初值μ ₁、v ₁： B1. Initialize the initial value interval of the current amplitude: [c ₁ , d ₁ ], and calculate the initial value μ ₁ and v ₁ of the current amplitude test point:

μ ₁＝c ₁+0.382(d ₁-c ₁)、v ₁＝c ₁+0.618(d ₁-c ₁)； μ ₁ =c ₁ +0.382(d ₁ −c ₁ ), v ₁ =c ₁ +0.618(d ₁ −c ₁ );

B2、计算两电流幅值试探点处的转矩误差目标函数值：f(μ ₁)、f(v ₁)， B2. Calculate the torque error objective function values at the test points of the two current amplitudes: f(μ ₁ ), f(v ₁ ),

转矩误差目标函数f(I)按
获取，其中：
为给定转矩，T _e(I，θ)为电流角θ对应的转矩，T _e(I，θ)根据电机非线性负载交直轴磁链模型计算获取；电流角θ为电流角迭代循环输出的电流角试探点λ _k、β _k；I为电流幅值； The torque error objective function f(I) presses
Get, where:
is a given torque, T _e (I, θ) is the torque corresponding to the current angle θ, T _e (I, θ) is calculated and obtained according to the non-linear load AC-direction flux linkage model of the motor; the current angle θ is the current angle iterative cycle Output current angle test points λ _k , β _k ; I is the current amplitude;

B3、判断两电流幅值试探点处转矩误差目标函数值f(μ _h)和f(v _h)是否存在关系f(μ _h)＞f(v _h)，电流幅值迭代次数h＝1，2，3... B3. Judging whether there is a relationship between the torque error objective function values f(μ _h ) and f(v _h ) at the two current amplitude test points f(μ _h )>f(v _h ), the current amplitude iteration times h=1 , 2, 3...

判断结果为是，执行步骤B4；判断结果为否执行步骤B5；If the judgment result is yes, execute step B4; if the judgment result is no, execute step B5;

B4、令c _h+1＝μ _h，d _h+1＝d _h，μ _h+1＝v _h，v _h+1＝c _h+1+0.618(d _h+1-c _h+1)， B4. Let c _h+1 = μ _h , dh ₊₁ =d _h , μ _h+1 =v _h , v _h+1 =c _h+1 +0.618(d _h+1 −c _h+1 ),

计算目标函数值f(v _h+1)，然后步骤B6； Calculate the objective function value f(v _h+1 ), then step B6;

B5、令c _h+1＝c _h，d _h+1＝v _h，v _h+1＝μ _h，μ _h+1＝c _h+1+0.382(d _h+1-c _h+1)， B5. Let c _h+1 = c _h , dh ₊₁ = v _h , v _h+1 = μ _h , μ _h+1 = c _h+1 +0.382(d _h+1 −c _h+1 ),

计算目标函数值f(μ _h+1)，然后步骤B6； Calculate the objective function value f(μ _h+1 ), then step B6;

B6、令h＝h+1，B6. Let h=h+1,

B7、判断迭代是否收敛：若d _h-c _h＜L ₂，输出给定电流角对应的电流幅值I(θ)、电压幅值U(θ)，输出结果用于电流角的迭代搜索过程；否则，返回步骤B3；其中L ₂为电流幅值迭代精度。 B7. Judging whether the iteration is converged: if d _h _-ch <L ₂ , output the current amplitude I(θ) and the voltage amplitude U(θ) corresponding to the given current angle, and the output result is used for the iterative search process of the current angle ; otherwise, return to step B3; where L ₂ is the current amplitude iteration accuracy.
根据权利要求5或6所述可调磁通永磁同步电机全速域效率最优控制磁化状态选择方法，其特征在于，电机非线性负载交直轴磁链模型的建立过程：The method for selecting the optimal control magnetization state for the full-speed domain efficiency of an adjustable-flux permanent magnet synchronous motor according to claim 5 or 6, characterized in that, the process of establishing a non-linear load quadrature-axis flux linkage model of the motor:

在电机的电流极限范围内等距或不等距的选取一系列电流工作点，包括等距或不等距电流幅值系列值及等距或不等距电流角系列值，所选取的电流工作点间距由电机的饱和程度决定，需要保证相邻两电流工作点之间的铁心磁导率保持不变，铁心按线性材料处理；A series of current operating points are selected equidistantly or unequally within the current limit range of the motor, including equidistant or unequal distance current amplitude series values and equidistant or unequal distance current angle series values. The point spacing is determined by the saturation degree of the motor. It is necessary to ensure that the magnetic permeability of the iron core between two adjacent current operating points remains unchanged, and the iron core is treated as a linear material;

采用仿真或实验的方式，计算所选取的电流工作点对应的电机负载交、直轴磁链数据，并将得到的负载交、直轴磁链数据进行插值，得到电流极限范围内所有电流工作点的负载交、直轴磁链模型，即永磁同步电机的非线性磁链模型：By means of simulation or experiment, calculate the motor load AC and direct-axis flux linkage data corresponding to the selected current operating point, and interpolate the obtained load AC and direct-axis flux linkage data to obtain all current operating points within the current limit range. The load alternating and direct-axis flux linkage model, that is, the nonlinear flux linkage model of the permanent magnet synchronous motor:

ψ _d(I，θ)＝ψ _d(i _d，i _q) ψ _d (I, θ)=ψ _d ( _id , i _q )

ψ _q(I，θ)＝ψ _q(i _d，i _q)。 ψ _q (I, θ) = ψ _q ( _id , i _q ).
根据权利要求7所述可调磁通永磁同步电机全速域效率最优控制磁化状态选择方法，其特征在于，转矩T _e(I，θ)由电机非线性负载交直轴磁链模型计算输出，按如下公式获取： The method for selecting a magnetization state for optimal control of the full-speed domain efficiency of an adjustable-flux permanent magnet synchronous motor according to claim 7, wherein the torque T _e (I, θ) is calculated and output by a non-linear load quadrature-axis flux linkage model of the motor , obtained according to the following formula:

T _e(I，θ)＝p(ψ _d(I，θ)i _q-ψ _q(I，θ)i _d) T _e (I, θ)=p(ψ _d (I, θ)i _q -ψ _q (I, θ)i _d )

其中，p为电机极对数，i _d为电机的直轴电流，i _q为电机的交轴电流，ψ _d为电机的直轴磁链，ψ _q为电机的交轴磁链。 Among them, p is the number of pole pairs of the motor, _id is the direct axis current of the motor, i _q is the quadrature axis current of the motor, ψ _d is the direct axis flux linkage of the motor, and ψ _q is the quadrature axis flux linkage of the motor.
根据权利要求7所述可调磁通永磁同步电机全速域效率最优控制磁化状态选择方法，其特征在于，电压幅值U(θ)按下式获取：The method for selecting the optimal control magnetization state for the full-speed domain efficiency of an adjustable-flux permanent magnet synchronous motor according to claim 7, wherein the voltage amplitude U(θ) is obtained as follows:

其中直轴电压
where the direct axis voltage

交轴电压
Axial voltage

w为电机的电角速度，R ₁为电机电阻。 w is the electrical angular velocity of the motor, and R ₁ is the motor resistance.
可调磁通永磁同步电机全速域效率最优控制在线控制方法，其特征在于，采用权利要求4～9任一权利要求所述的可调磁通永磁同步电机全速域效率最优控制磁化状态选择方法获取电机在不同磁化状态下、全速域范围内的多个电流工作点，包括基速值以下采用MTPA控制方式获取的电流工作点，和基速值以上采用弱磁区效率最优控制方式获取的电流工作点；An on-line control method for optimal control of full-speed domain efficiency of an adjustable-flux permanent magnet synchronous motor, characterized in that the optimal control of the full-speed domain efficiency of an adjustable-flux permanent magnet synchronous motor according to any one of claims 4 to 9 is used to control the magnetization The state selection method obtains multiple current operating points of the motor under different magnetization states and in the full speed range, including the current operating point obtained by the MTPA control method below the base speed value, and the optimal control method of the field weakening area efficiency above the base speed value. Obtained current operating point;

将这些电流工作点作为样本数据，训练生成可调磁通电机全速域效率最优在线控制神经网络模型，全速域效率最优在线控制神经网络模型的输入为电机的转速、转矩、电流极限值和电压极限值，输出为电机的磁化状态、电流幅值与电流角；Using these current operating points as sample data, train and generate the optimal online control neural network model for the full-speed domain efficiency of the adjustable flux motor. and voltage limit value, the output is the magnetization state, current amplitude and current angle of the motor;

将全速域效率最优控制神经网络模型加载至DSP或FPGA控制器中，可以实现永磁同步电机在全速域范围内效率最优在线控制，根据电机的转速和转矩指令实时输出电机的最佳磁化状态、电流幅值与电流角用于控制电机运行。Loading the full-speed domain efficiency optimal control neural network model into the DSP or FPGA controller can realize the optimal online control of the permanent magnet synchronous motor in the full-speed domain range, and output the motor’s optimal efficiency in real time according to the motor’s speed and torque commands. The magnetization state, current amplitude and current angle are used to control motor operation.