CN-122001261-A - Permanent magnet synchronous motor sensorless control parameter identification method

CN122001261ACN 122001261 ACN122001261 ACN 122001261ACN-122001261-A

Abstract

The invention discloses a method for identifying control parameters of a permanent magnet synchronous motor without a position sensor, which comprises the steps of S1, obtaining a permanent magnet flux linkage error by using a flux linkage observer, realizing identification of a stator winding resistor and a stator inductance of the permanent magnet synchronous motor based on the error by injecting a high-frequency sinusoidal signal into a d axis, S2, substituting the identification values of the inductance and the resistance into the position-free observer and a current controller to realize high-precision control of the motor, and S3, when the q-axis current changes, re-executing the inductance identification to compensate the inductance parameter change caused by factors such as magnetic saturation and the like, and ensuring the control precision. The invention can be applied to a universal permanent magnet synchronous motor driver and has higher application value and economic value. The invention is beneficial to solving the underrank problem of the permanent magnet synchronous motor without position parameter identification, improving the estimation precision and realizing the reliable operation and higher-performance control of the permanent magnet synchronous motor driving system.

Inventors

QIAN ZHE
YU XUDONG
WU LIJIAN
WANG QUNJING
DIAO KAIKAI
DENG WENZHE
SUN ZEHUI
CHEN QIXU

Assignees

安徽大学

Dates

Publication Date: 20260508
Application Date: 20260210

Claims (10)

1. A method for identifying control parameters of a permanent magnet synchronous motor without a position sensor is characterized by comprising the following steps: step S1, a flux linkage observer is utilized to acquire a permanent magnet flux linkage error, and a high-frequency sinusoidal signal is injected into a d axis to realize identification of a stator winding resistance and a stator inductance of the permanent magnet synchronous motor based on the error; S2, substituting the identification values of the inductance and the resistance into a position-free observer and a current controller to realize high-precision control of the motor; And S3, when the q-axis current changes, re-executing the inductance identification to compensate the inductance parameter changes caused by the magnetic saturation factors, thereby ensuring the control precision.
2. The method for identifying the control parameters of the permanent magnet synchronous motor without the position sensor according to claim 1, wherein the step S1 comprises the steps of calculating the difference between the actual value and the observed value of the permanent magnet flux linkage in real time through a flux linkage observer, namely, the flux linkage error of the permanent magnet, and identifying the resistance and the inductance of the stator winding of the permanent magnet synchronous motor on line according to the self-adaptive law designed by the Lyapunov stability theory by combining the high-frequency sinusoidal voltage injected on the d axis based on the error.
3. The method for identifying the control parameters of the sensorless permanent magnet synchronous motor according to claim 2, wherein the flux linkage observer is constructed as follows: (4) (5) , Wherein, the Representing the stator flux linkage vector in the stationary coordinate system, Representing the stator voltage vector in the stationary coordinate system, And Respectively representing the stator resistance and the stator inductance, Representing the stator current vector in the stationary coordinate system, Indicating the gain of the flux linkage observer, Representation of The flux linkage error vector of the permanent magnet of the shaft, Representing the flux linkage of the alpha-axis permanent magnet, Representing the units of an imaginary number, Representing the flux linkage of the permanent magnet on the beta axis, Is the magnitude of the flux linkage of the permanent magnet, Is an electrical angle.
4. The method for identifying the control parameters of the permanent magnet synchronous motor without the position sensor according to claim 3, wherein the step S1 comprises the steps of designing a Lyapunov function: , wherein, the error of partial parameters is expressed as follows: , Wherein, the And Respectively represent The magnetic linkage error of the permanent magnet of the shaft, Is the error of the resistance of the resistor, Is the inductance error that is used to determine the inductance, Is the resistance identification gain and the resistance identification gain, Is the inductance identification gain and the inductance identification gain, Is an electrical angle error; Then, the derivative of the lyapunov function is derived from the equation: (15) Wherein, the And Respectively in a stationary coordinate system And Shaft current; to ensure negative derivative of the selected lyapunov function, the following estimation mechanism is selected: The inductance online identification is obtained from flux linkage errors used for position estimation, and parameter identification based on a fundamental inductance model is performed to operate in a static reference system; (16) Wherein, the Representing the boundary of the range of variation of the inductance, A boundary representing a rate of change of inductance; based on the above, the proposed inductance identification mechanism is: (17) Wherein, the For the inductance to identify a positive gain, Has the following expression: (18) On-line identification of the resistor, which is carried out under a static reference system, the whole process does not use position estimation, (19) Wherein, the Indicating the boundary of the range of resistance variation, A boundary representing a rate of change of resistance; based on the above, the proposed resistance identification mechanism is: (20) Wherein, the The positive gain is identified for the resistance, Has the following expression: (21) Wherein, the And Respectively the alpha and beta axis stator currents in the static coordinate system, And Obtained by flux linkage observer output.
5. The method for identifying the control parameters of the permanent magnet synchronous motor without position sensor according to claim 4, wherein the method is based on synchronous operation of the permanent magnet synchronous motor Establishing a current controller by a model under a reference system: (22) (23) Wherein, the And Is given as the d-axis and q-axis currents, Is a result of the laplace operator, And The dq axis voltage feedforward decoupling terms, respectively, are expressed as: , (24) Wherein, the And For the voltage output by the current controller, Is the estimated electrical rotational speed of the motor, And Respectively is Shaft current given sum The shaft current is given by the ratio of the current, And Is a nonlinear compensation term of the voltage source inverter, And In response to the current error, P is the PI control operator.
6. The method for identifying the control parameters of the permanent magnet synchronous motor without the position sensor according to claim 5, And 、 And The following calculation was performed: , (25) , (26) Wherein, the And Respectively, d, q-axis stator currents in a synchronous coordinate system, In order to compensate for the coefficient of the coefficient, Switching frequency for the inverter; p is represented as follows: (27) Wherein, the Is the integral gain of the filter, Is a proportional gain.
7. The method for identifying the control parameters of the sensorless permanent magnet synchronous motor of claim 6, wherein the electrical angle error is calculated as follows: (28)。
8. A computing device comprising at least one processor and a memory storing program instructions that, when read and executed by the processor, cause the computing device to perform the method of any of claims 1-7.
9. A readable storage medium storing program instructions which, when read and executed by a computing device, cause the computing device to perform the method of any of claims 1-7.
10. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 1-7.

Description

Permanent magnet synchronous motor sensorless control parameter identification method Technical Field The invention relates to the field of online parameter identification, in particular to a method for identifying control parameters of a permanent magnet synchronous motor without a position sensor. Background The permanent magnet synchronous motor is a motor using a permanent magnet as an excitation source, has the advantages of simple structure, small loss, high power density and the like, and is widely applied to the high-performance control fields of new energy automobiles, aerospace and the like. Due to the influences of factors such as motor temperature and magnetic saturation, parameters in the motor can change, and further the performance of the vector control system is influenced. The on-line motor parameter identification method utilizes a frequency converter to measure and collect data in the motor operation process to estimate motor parameters, and the core of the on-line motor parameter identification method depends on a mathematical model and a modern control theory of a permanent magnet synchronous motor. However, conventional permanent magnet synchronous motor parameter identification generally uses a position sensor to acquire rotor position information to assist parameter identification, and thus cannot be applied to sensorless control of a permanent magnet synchronous motor. Disclosure of Invention The invention provides a method for identifying control parameters of a permanent magnet synchronous motor without a position sensor, which can identify the resistance induction parameters of the motor at medium and low speeds, and realize accurate control of the permanent magnet synchronous motor by feeding the observed resistance induction values back into a position-free observer and a current controller, thereby solving the problems of cost and complexity caused by using the position sensor in the traditional parameter identification method. In addition, dead zone compensation is added in the current controller, so that the influence of the nonlinearity of the voltage source inverter on parameter identification is reduced. In order to solve the technical problems, the invention adopts the following technical scheme: A permanent magnet synchronous motor sensorless control parameter identification method comprises the following steps: step S1, a flux linkage observer is utilized to acquire a permanent magnet flux linkage error, and a high-frequency sinusoidal signal is injected into a d axis to realize identification of a stator winding resistance and a stator inductance of the permanent magnet synchronous motor based on the error; S2, substituting the identification values of the inductance and the resistance into a position-free observer and a current controller to realize high-precision control of the motor; and S3, when the q-axis current changes, the inductance identification is re-executed to compensate the inductance parameter changes caused by factors such as magnetic saturation and the like, so that the control precision is ensured. A computing device comprising at least one processor and a memory storing program instructions that, when read and executed by the processor, cause the computing device to perform the method. A readable storage medium storing program instructions that, when read and executed by a computing device, cause the computing device to perform the method. A computer program product comprising a computer program which, when executed by a processor, implements the method. The beneficial effects are that: The invention integrates an on-line resistance and inductance identification strategy based on a nonlinear flux linkage error method into a position observer, and can independently realize accurate identification of winding resistance and stator inductance by injecting high-frequency sinusoidal voltage into a d-axis. By introducing the parameter identification technology, the sensorless driving method can still realize accurate position estimation when the running parameters of the motor are changed. In addition, by adding dead zone compensation in the current controller, the influence of the nonlinearity of the voltage source inverter on parameter identification is reduced. The invention can be applied to a universal permanent magnet synchronous motor driver and has higher application value and economic value. The invention is beneficial to solving the underrank problem of the permanent magnet synchronous motor without position parameter identification, improving the estimation precision and realizing the reliable operation and higher-performance control of the permanent magnet synchronous motor driving system. Drawings Fig. 1 is a structural diagram of a parameter identification method and a position-control-free parameter identification method in a position-sensor-free control parameter identification method of a permanent magnet synchronous motor. Detailed Descr