CN-119891845-B - Control method, device, control equipment and storage medium of permanent magnet synchronous motor

CN119891845BCN 119891845 BCN119891845 BCN 119891845BCN-119891845-B

Abstract

The application is suitable for the technical field of motors, and provides a control method, a device, control equipment and a storage medium of a permanent magnet synchronous motor. The control method of the permanent magnet synchronous motor is applied to control equipment of the permanent magnet synchronous motor, the control equipment is connected with an extended state observer, the control method of the permanent magnet synchronous motor comprises the steps of inputting two-phase static current values and two-phase static voltage values of the permanent magnet synchronous motor into the extended state observer after the permanent magnet synchronous motor enters a constant speed running state, obtaining counter electromotive force and rotor flux output by the extended state observer, determining the observing rotating speed and the rotor position of the permanent magnet synchronous motor according to the counter electromotive force and the rotor flux, determining whether the rotating speed of the permanent magnet synchronous motor is stable according to the observing rotating speed, and performing vector control on the permanent magnet synchronous motor according to the observing rotating speed and the rotor position after the rotating speed of the permanent magnet synchronous motor is stable. The control method provided by the embodiment of the application can accurately determine the rotor position of the permanent magnet synchronous motor, further can accurately control the permanent magnet synchronous motor in a vector manner, and improves the control accuracy of the permanent magnet synchronous motor.

Inventors

WU WENYOU
WU TIANJUN
HU LI
ZHANG FANG
WANG HONGLIN
WANG NAILONG

Assignees

广东高标智能科技股份有限公司

Dates

Publication Date: 20260512
Application Date: 20240929

Claims (9)

1. The control method of the permanent magnet synchronous motor is characterized by being applied to control equipment of the permanent magnet synchronous motor, wherein the control equipment is connected with an extended state observer, and the control method of the permanent magnet synchronous motor comprises the following steps: After the permanent magnet synchronous motor enters a constant-speed running state, inputting a two-phase static current value and a two-phase static voltage value of the permanent magnet synchronous motor into the extended state observer, and acquiring counter electromotive force and rotor flux output by the extended state observer; determining the observed rotating speed and the rotor position of the permanent magnet synchronous motor according to the counter electromotive force and the rotor flux linkage; determining whether the rotating speed of the permanent magnet synchronous motor is stable according to the observed rotating speed, and performing vector control on the permanent magnet synchronous motor according to the observed rotating speed and the rotor position after determining that the rotating speed of the permanent magnet synchronous motor is stable; after the obtaining of the counter electromotive force and the rotor flux output by the extended state observer, the method further comprises: according to the rotor flux linkage, determining an air gap flux linkage of an alpha beta coordinate system; According to the integrated rotor flux linkage and a preset current model formula, converting the air gap flux linkage of the alpha beta coordinate system into an air gap flux linkage of a dq coordinate system; subtracting a preset rotor flux linkage constant from the air gap flux linkage of the dq coordinate system, and obtaining a first current component under an alpha coordinate system and a second current component under a beta coordinate system through inverse transformation; determining a first correction compensation term under an alpha coordinate system and a second correction compensation term under a beta coordinate system according to the first current component and the second current component; and correcting the counter electromotive force according to the first correction compensation term and the second correction compensation term.
2. The method of claim 1, further comprising, prior to the permanent magnet synchronous motor entering a constant speed operating state: And when the permanent magnet synchronous motor is stationary, controlling the permanent magnet synchronous motor to rotate by a preset dq axis current through a preset flow-frequency ratio control strategy until the permanent magnet synchronous motor enters the constant-speed running state.
3. The method of claim 2, wherein controlling the permanent magnet synchronous motor to rotate with a preset dq-axis current through a preset flow ratio control strategy, comprises: controlling a rotor of the permanent magnet synchronous motor to rotate to a target angle according to the dq axis current; controlling a rotor of the permanent magnet synchronous motor to accelerate and rotate at a preset acceleration; And after the rotating speed of the rotor of the permanent magnet synchronous motor reaches a preset rotating speed, controlling the rotor of the permanent magnet synchronous motor to rotate at a fixed speed at the preset rotating speed so as to enable the permanent magnet synchronous motor to enter the fixed-speed running state.
4. A method according to claim 3, wherein said determining whether the rotational speed of the permanent magnet synchronous motor is stable based on the observed rotational speed comprises: Acquiring a preset deviation coefficient and a preset duration time threshold; determining a target rotating speed range according to the preset rotating speed and the deviation coefficient; And if the duration time of the observed rotating speed in the target rotating speed range is greater than the duration time threshold value, determining that the rotating speed of the permanent magnet synchronous motor is stable.
5. The method of claim 1, wherein the control device is further coupled to a current loop, and wherein the two-phase quiescent current value and the two-phase quiescent voltage value are determined by: acquiring a three-phase current value of the permanent magnet synchronous motor, and converting the three-phase current value into the two-phase static current value; And taking the two-phase static current value as the current input of the extended state observer, acquiring two voltage components of a dq coordinate system output by the current loop, and converting the two voltage components into the two-phase static voltage value.
6. The method according to any one of claims 1 to 5, wherein said determining the observed rotational speed and rotor position of the permanent magnet synchronous motor from the back emf and rotor flux linkage comprises: and constructing a quadrature phase-locked loop structure according to the counter electromotive force and the rotor flux linkage, and determining the observation rotating speed and the rotor position according to the quadrature phase-locked loop structure.
7. The control device of the permanent magnet synchronous motor is characterized by being applied to control equipment of the permanent magnet synchronous motor, wherein the control equipment is connected with an extended state observer, and the control equipment of the permanent magnet synchronous motor comprises: The data acquisition unit is used for inputting the two-phase static current value and the two-phase static voltage value of the permanent magnet synchronous motor to the extended state observer after the permanent magnet synchronous motor enters a constant speed running state, and acquiring the counter electromotive force and the rotor flux linkage output by the extended state observer; The data determining unit is used for determining the observed rotating speed and the rotor position of the permanent magnet synchronous motor according to the counter electromotive force and the rotor flux linkage; The control unit is used for determining whether the rotating speed of the permanent magnet synchronous motor is stable according to the observed rotating speed, and performing vector control on the permanent magnet synchronous motor according to the observed rotating speed and the rotor position after determining that the rotating speed of the permanent magnet synchronous motor is stable; a calibration unit for: according to the rotor flux linkage, determining an air gap flux linkage of an alpha beta coordinate system; According to the integrated rotor flux linkage and a preset current model formula, converting the air gap flux linkage of the alpha beta coordinate system into an air gap flux linkage of a dq coordinate system; subtracting a preset rotor flux linkage constant from the air gap flux linkage of the dq coordinate system, and obtaining a first current component under an alpha coordinate system and a second current component under a beta coordinate system through inverse transformation; determining a first correction compensation term under an alpha coordinate system and a second correction compensation term under a beta coordinate system according to the first current component and the second current component; and correcting the counter electromotive force according to the first correction compensation term and the second correction compensation term.
8. A control device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, realizes the steps in the control method of a permanent magnet synchronous motor according to any one of claims 1 to 6.
9. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, realizes the steps in the control method of a permanent magnet synchronous motor according to any one of claims 1 to 6.

Description

Control method, device, control equipment and storage medium of permanent magnet synchronous motor Technical Field The application belongs to the technical field of motors, and particularly relates to a control method, a device, control equipment and a storage medium of a permanent magnet synchronous motor. Background Along with the wider and wider application of new energy electric vehicles, the requirements for realizing high-quality control of the permanent magnet synchronous motor are larger and larger. Currently, three high-low level waveforms with a phase difference of 120 degrees are generally output per electrical angle period through a three-phase installed latching type hall sensor to control a permanent magnet synchronous motor. However, only 6 electric angle areas of 60 degrees can be obtained through the three high-low level waveforms, and the existing electric angle estimation methods all depend on the speed calculated in the previous angle interval, so that the delay degree is larger, the estimated angle error is larger when the speed is low, the carrier ratio is high, and the rotating speed is rapidly changed, and the control accuracy of the existing permanent magnet synchronous motor is lower due to the problems. Disclosure of Invention In view of the above, the embodiments of the present application provide a method, an apparatus, and a storage medium for controlling a permanent magnet synchronous motor, so as to solve the technical problem of low control accuracy of the existing permanent magnet synchronous motor. In a first aspect, an embodiment of the present application provides a control method for a permanent magnet synchronous motor, which is applied to a control device of the permanent magnet synchronous motor, where the control device is connected with an extended state observer, and the control method for the permanent magnet synchronous motor includes: After the permanent magnet synchronous motor enters a constant-speed running state, inputting a two-phase static current value and a two-phase static voltage value of the permanent magnet synchronous motor into the extended state observer, and acquiring counter electromotive force and rotor flux output by the extended state observer; determining the observed rotating speed and the rotor position of the permanent magnet synchronous motor according to the counter electromotive force and the rotor flux linkage; and determining whether the rotating speed of the permanent magnet synchronous motor is stable or not according to the observed rotating speed, and performing vector control on the permanent magnet synchronous motor according to the observed rotating speed and the rotor position after determining that the rotating speed of the permanent magnet synchronous motor is stable. Optionally, before the permanent magnet synchronous motor enters the constant speed running state, the method further comprises: And when the permanent magnet synchronous motor is stationary, controlling the permanent magnet synchronous motor to rotate by a preset dq axis current through a preset flow-frequency ratio control strategy until the permanent magnet synchronous motor enters the constant-speed running state. Optionally, the controlling the permanent magnet synchronous motor to rotate with a preset dq axis current through a preset flow frequency ratio control strategy includes: controlling a rotor of the permanent magnet synchronous motor to rotate to a target angle according to the dq axis current; controlling a rotor of the permanent magnet synchronous motor to accelerate and rotate at a preset acceleration; And after the rotating speed of the rotor of the permanent magnet synchronous motor reaches a preset rotating speed, controlling the rotor of the permanent magnet synchronous motor to rotate at a fixed speed at the preset rotating speed so as to enable the permanent magnet synchronous motor to enter the fixed-speed running state. Optionally, the determining whether the rotation speed of the permanent magnet synchronous motor is stable according to the observed rotation speed includes: Acquiring a preset deviation coefficient and a preset duration time threshold; determining a target rotating speed range according to the preset rotating speed and the deviation coefficient; And if the duration time of the observed rotating speed in the target rotating speed range is greater than the duration time threshold value, determining that the rotating speed of the permanent magnet synchronous motor is stable. Optionally, the control device is further connected to a current loop, and the two-phase rest current value and the two-phase rest voltage value are determined by: acquiring a three-phase current value of the permanent magnet synchronous motor, and converting the three-phase current value into the two-phase static current value; And taking the two-phase static current value as the current input of the extended state observer, acquiring two voltage co