CN-121150536-B - Permanent magnet synchronous motor self-adaptive parameter updating control method and device based on rotational speed outer ring model-free predictive control, computer equipment and medium

CN121150536BCN 121150536 BCN121150536 BCN 121150536BCN-121150536-B

Abstract

The invention provides a permanent magnet synchronous motor self-adaptive parameter updating control method and device based on model-free predictive control of a rotating speed outer ring, computer equipment and medium, and belongs to the technical field of motor control. According to the method, based on the original model-free predictive current control, a permanent magnet synchronous motor kinematic equation is rewritten by using a first-order super local model, and meanwhile, load disturbance and multiple disturbance of coulomb friction are considered, and disturbance estimated values are estimated by an extended state observer. In addition, the method of self-adaptive parameter acquisition and updating is adopted to solve the problem of observation gain selection of the extended state observer. The method utilizes the estimated value of the observer to update the gain of the observer in real time, avoids using a transfer function to draw a bird chart to select parameters, and reduces the workload. The method can improve the stability and the robustness of the whole system, realize the rapid acquisition and the self-adaptive updating of the gain of the observer, and avoid a complicated parameter selection method.

Inventors

GONG PINGPING
FENG CHENGMING
WEI SHITANG
YIN LINFEI
GUO HUAJIE
LING CHUNXIANG
ZHANG HAOBO

Assignees

广西大学

Dates

Publication Date: 20260508
Application Date: 20251117

Claims (7)

1. The permanent magnet synchronous motor self-adaptive parameter updating control method based on the model-free predictive control of the rotating speed outer ring is characterized by comprising the following steps of: Constructing a first-order super local mathematical model of a permanent magnet synchronous motor as Total disturbance of outer ring of rotating speed Is that , Is the electric angular velocity of the rotor of the permanent magnet synchronous motor, Representation of Is a derivative of the current gain constant term Is that , Is the magnetic flux of the permanent magnet synchronous motor, Is the pole pair number of the permanent magnet synchronous motor, Is the q-axis current of the permanent magnet synchronous motor, , And The inertia, friction coefficient and load torque of the permanent magnet synchronous motor are respectively, And Coulomb friction torque coefficient and sign function, respectively; the disturbance estimation is carried out on the total disturbance by using an extended state observer, and the disturbance estimation is carried out on the total disturbance by using the extended state observer: wherein, the And (3) with The current sampling time and the next sampling time; is the electric angular velocity of the rotor of the permanent magnet synchronous motor Is a function of the estimated value of (2); Is that An estimated value of the rotor electric angular velocity of the permanent magnet synchronous motor at the moment; Is that The actual value of the rotor electric angular velocity of the permanent magnet synchronous motor at the moment; Is that An estimated value of the rotor electric angular velocity of the permanent magnet synchronous motor at the moment; is the sampling period; Is the total disturbance of the outer ring of the rotating speed Is a function of the estimated value of (2); Is that An estimate of the total disturbance of the outer ring of the moment rotational speed; Is that The actual value of the q-axis current of the permanent magnet synchronous motor at the moment; is the rotation speed error feedback gain of the observer; The parameter gain is introduced by the rotation speed outer ring by using an extended state observer; Is that An estimate of the total disturbance of the outer ring of the moment rotational speed; calculation using first order forward Euler discrete method The actual value of the rotor electric angular velocity of the permanent magnet synchronous motor at the moment is calculated by using a first-order forward Euler discrete method The actual value of the rotor electric angular velocity of the permanent magnet synchronous motor at the moment, the parameter gain introduced by the rotation speed outer ring using the extended state observer is designed to be , Is a reference value of the electrical angular velocity of the rotor of the permanent magnet synchronous motor, Is that An estimated value of the rotor electric angular velocity of the permanent magnet synchronous motor at the moment, Is that An estimated value of the rotor electric angular velocity of the permanent magnet synchronous motor at the moment, Is that The actual value of the rotor electric angular velocity of the permanent magnet synchronous motor at the moment; is the sampling period; calculating the q-axis reference current of the permanent magnet synchronous motor as follows through model-free predictive control of the rotating speed outer ring , Is that The q-axis reference current of the permanent magnet synchronous motor at the moment, Is that Calculating the reference voltage of the d axis of the permanent magnet synchronous motor and the q axis of the permanent magnet synchronous motor according to the reference value of the electric angular speed of the rotor of the permanent magnet synchronous motor at the moment; Is that An estimate of the total disturbance of the outer ring of the moment rotational speed; The permanent magnet synchronous motor is obtained through reverse park transformation Shaft reference voltage and permanent magnet synchronous motor Shaft reference voltage, permanent magnet synchronous motor Shaft reference voltage and permanent magnet synchronous motor The shaft reference voltage is input to a space vector pulse width modulation module to generate a duty ratio, and then the permanent magnet synchronous motor is controlled.
2. The permanent magnet synchronous motor adaptive parameter updating control method based on rotational speed outer ring model-free predictive control according to claim 1, wherein the first-order forward Euler discrete method is used for calculation The method comprises the following steps: Wherein, the And (3) with The current sampling time and the next sampling time; Is that The actual value of the rotor electric angular velocity of the permanent magnet synchronous motor at the moment; Is that The electric angular speed of the rotor of the permanent magnet synchronous motor at the moment; Is that The actual value of the q-axis current of the permanent magnet synchronous motor at the moment; Is that The actual value of the total disturbance of the outer ring of the moment rotating speed; calculation using first order forward Euler discrete method The method comprises the following steps: Wherein, the And (3) with The next time and the time after two cycles; Is that The actual value of the rotor electric angular velocity of the permanent magnet synchronous motor at the moment; Is that The actual value of the q-axis current of the permanent magnet synchronous motor at the moment; Is that Actual value of total disturbance of outer ring of rotational speed at the moment.
3. The permanent magnet synchronous motor adaptive parameter updating control method based on the rotational speed outer ring model-free predictive control according to claim 1, wherein the calculating of the d-axis reference voltage of the permanent magnet synchronous motor and the q-axis reference voltage of the permanent magnet synchronous motor is characterized in that: Wherein, the Is the d-axis reference voltage of the permanent magnet synchronous motor; is the q-axis reference voltage of the permanent magnet synchronous motor; Is that The d-axis reference current of the permanent magnet synchronous motor at the moment is equal to zero, =0; Is that Q-axis reference current of the permanent magnet synchronous motor at the moment; is the d-axis current estimated value of the permanent magnet synchronous motor; Is the q-axis current estimated value of the permanent magnet synchronous motor; Is that An estimate of the current disturbance on the d-axis at time instant, Is that An estimate of the moment q-axis current disturbance; is the voltage gain.
4. The permanent magnet synchronous motor adaptive parameter updating control method based on rotational speed outer ring model-free predictive control according to claim 1, wherein the permanent magnet synchronous motor is obtained by inverse park transformation Shaft reference voltage and permanent magnet synchronous motor Shaft reference voltage Wherein, the Is a permanent magnet synchronous motor An axis reference voltage; is a permanent magnet synchronous motor An axis reference voltage; is the rotation angle of the rotor of the permanent magnet synchronous motor; is the cosine value of the rotation angle of the rotor of the permanent magnet synchronous motor; is the sine value of the rotation angle of the rotor of the permanent magnet synchronous motor, and the permanent magnet synchronous motor is provided with the sine value Shaft reference voltage and permanent magnet synchronous motor The shaft reference voltage is input to a space vector pulse width modulation module to generate a duty ratio, so as to control the permanent magnet synchronous motor; Is the d-axis reference voltage of the permanent magnet synchronous motor; is the q-axis reference voltage of the permanent magnet synchronous motor.
5. A permanent magnet synchronous motor adaptive parameter updating control device based on rotational speed outer ring model-free predictive control, which is characterized by comprising: The permanent magnet synchronous motor model construction module is used for constructing a first-order super-local mathematical model of the permanent magnet synchronous motor as follows Total disturbance of outer ring of rotating speed Is that , Is the electric angular velocity of the rotor of the permanent magnet synchronous motor, Representation of Is a derivative of the current gain constant term Is that , Is the magnetic flux of the permanent magnet synchronous motor, Is the pole pair number of the permanent magnet synchronous motor, Is the q-axis current of the permanent magnet synchronous motor, , And The inertia, friction coefficient and load torque of the permanent magnet synchronous motor are respectively, And Coulomb friction torque coefficient and sign function, respectively; The total disturbance estimation module is used for carrying out disturbance estimation on the total disturbance by using the extended state observer, and the extended state observer is used for carrying out disturbance estimation on the total disturbance as follows: wherein, the And (3) with The current sampling time and the next sampling time; is the electric angular velocity of the rotor of the permanent magnet synchronous motor Is a function of the estimated value of (2); Is that An estimated value of the rotor electric angular velocity of the permanent magnet synchronous motor at the moment; Is that The actual value of the rotor electric angular velocity of the permanent magnet synchronous motor at the moment; Is that An estimated value of the rotor electric angular velocity of the permanent magnet synchronous motor at the moment; is the sampling period; Is the total disturbance of the outer ring of the rotating speed Is a function of the estimated value of (2); Is that An estimate of the total disturbance of the outer ring of the moment rotational speed; Is that The actual value of the q-axis current of the permanent magnet synchronous motor at the moment; is the rotation speed error feedback gain of the observer; The parameter gain is introduced by the rotation speed outer ring by using an extended state observer; Is that An estimate of the total disturbance of the outer ring of the moment rotational speed; An extended state observer parameter updating module for calculating by using a first-order forward Euler discrete method The actual value of the rotor electric angular velocity of the permanent magnet synchronous motor at the moment is calculated by using a first-order forward Euler discrete method The actual value of the rotor electric angular velocity of the permanent magnet synchronous motor at the moment, the parameter gain introduced by the rotation speed outer ring using the extended state observer is designed to be , Is a reference value of the electrical angular velocity of the rotor of the permanent magnet synchronous motor, Is that An estimated value of the rotor electric angular velocity of the permanent magnet synchronous motor at the moment, Is that An estimated value of the rotor electric angular velocity of the permanent magnet synchronous motor at the moment, Is that The actual value of the rotor electric angular velocity of the permanent magnet synchronous motor at the moment; is the sampling period; the reference voltage calculation module is used for calculating the q-axis reference current of the permanent magnet synchronous motor as by the model-free predictive control of the outer ring of the rotating speed , Is that The q-axis reference current of the permanent magnet synchronous motor at the moment, Is that Calculating the reference voltage of the d axis of the permanent magnet synchronous motor and the q axis of the permanent magnet synchronous motor according to the reference value of the electric angular speed of the rotor of the permanent magnet synchronous motor at the moment; Is that An estimate of the total disturbance of the outer ring of the moment rotational speed; the permanent magnet synchronous motor control output module is used for obtaining the permanent magnet synchronous motor through reverse park conversion Shaft reference voltage and permanent magnet synchronous motor Shaft reference voltage, permanent magnet synchronous motor Shaft reference voltage and permanent magnet synchronous motor The shaft reference voltage is input to a space vector pulse width modulation module to generate a duty ratio, and then the permanent magnet synchronous motor is controlled.
6. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the permanent magnet synchronous motor adaptive parameter update control method based on rotational speed outer loop model-free predictive control as claimed in any one of claims 1 to 4.
7. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the steps of the permanent magnet synchronous motor adaptive parameter update control method based on rotational speed outer loop model-free predictive control as claimed in any one of claims 1 to 4.

Description

Permanent magnet synchronous motor self-adaptive parameter updating control method and device based on rotational speed outer ring model-free predictive control, computer equipment and medium Technical Field The invention relates to the technical field of motor control, in particular to a permanent magnet synchronous motor self-adaptive parameter updating optimization control method based on model-free predictive control by considering multiple disturbance. The method considers load disturbance and coulomb friction into a permanent magnet synchronous motor kinematic formula, and utilizes an extended state observer to estimate total disturbance. In addition, the method aims at utilizing the estimated value of the observer to carry out self-adaptive acquisition and updating of the gain of the observer, avoiding the complex process of the traditional analysis method, and being applicable to an electric automobile driving system and application scenes with higher requirements on the performance of a motor. Background In terms of high-performance control of motors, conventional methods include a magnetic field directional control and a direct torque control method, which are widely used in industrial production due to easy implementation, but have a number of disadvantages: (1) The control performance is seriously dependent on the accuracy of motor parameters, in particular rotor resistance and inductance. Parameter mismatch can result in incomplete decoupling of the magnetic field and torque, resulting in steady state errors and torque ripple. (2) The proportional-integral controller is complicated to tune, and a plurality of proportional-integral controllers, including parameters of a current loop and a rotating speed outer loop, need to be carefully set so as to ensure the stability and dynamic performance of the system, which increases the complexity of debugging. At the same time, the use of the same proportional-integral-derivative parameter for different conditions results in reduced control performance. (3) The dynamic response is relatively slow, because of the dependence on the output of the proportional-integral controller and space vector pulse width modulation, the bandwidth of the current loop is limited, and the dynamic response speed is smooth but has poor rapidity. To solve the above problems, researchers have proposed many solutions. Aiming at the problem of complex parameter setting of a proportional-integral controller, researchers put forward a model predictive control method. The method is to predict the future behavior of the system under the action of all possible switching states in the next sampling period, such as current, torque and flux linkage, by using a discrete mathematical model of the motor, and to select the "optimal" switching state according to a preset cost function, such as torque error, flux linkage error and switching loss, and apply the "optimal" switching state directly to the inverter. However, the model prediction has obvious defects, namely the model prediction is seriously dependent on an accurate motor model, and the control performance is completely dependent on the accuracy of the prediction model. The drift and nonlinear characteristics of motor parameters can lead to model mismatch, so that prediction errors are generated, and control performance is reduced. The model-free predictive control utilizes input and output data corresponding to small neighborhood around the working point to carry out local and dynamic estimation on the system dynamics model. There are generally two types of model-free predictive control that can be considered, the first involving the storage of current changes, rather than the traditional permanent magnet synchronous motor model. The model-free predictive control stores current measurement variation data caused by different voltage vectors in a lookup table. The stored data is then used to calculate the predicted current change. This method is based on the assumption that the current gradient remains unchanged during the adjacent update of the look-up table. Therefore, in the case where the lookup table update rate is reduced, the performance is degraded. Unlike the look-up table, the second model-free predictive control uses a super local model. The super local model is widely used in motor driving due to its simple implementation. The model does not deal with a single unknown item of a separate processing system, but integrates them into a single variable. However, the use of super-local models introduces an unknown disturbance effect into the control system. These unknown perturbations can be estimated using an observer. The extended state observer is often used to obtain perturbations in the super-local model. The use of an extended state observer for unknown disturbance estimation can avoid complex mathematical operations. The model-free predictive control ignores the disturbance possibly suffered by the permanent magnet synchr