CN-122026762-A - Synchronous motor control method, device, equipment and synchronous motor system

CN122026762ACN 122026762 ACN122026762 ACN 122026762ACN-122026762-A

Abstract

The disclosure relates to the technical field of synchronous motors, and in particular relates to a synchronous motor control method, a synchronous motor control device, a synchronous motor control equipment and a synchronous motor system. The electromagnetic time constant of the synchronous motor is smaller than a first threshold value, the control method of the synchronous motor comprises the steps of determining an actual rotating speed and a target rotating speed, determining a target control current based on the actual rotating speed, the target rotating speed and a rotating speed loop control model, wherein the rotating speed loop control model is a relation between a rotating speed error determined based on a Lyapunov function and the target control current, determining a target control voltage corresponding to the target control current according to a current-voltage conversion model, wherein the current-voltage conversion model is a relation between a direct-axis voltage eliminated in a state equation of the synchronous motor and the target control current and the target control voltage obtained by deduction, and controlling the synchronous motor according to the target control voltage.

Inventors

SHEN JIANXIN
XU BAICHENG
WANG YUNCHONG

Assignees

浙江大学

Dates

Publication Date: 20260512
Application Date: 20260414

Claims (10)

1. A method of controlling a synchronous motor, wherein an electromagnetic time constant of the synchronous motor is less than a first threshold, the method comprising: Determining an actual rotating speed and a target rotating speed; Determining a target control current based on the actual rotation speed, the target rotation speed and a rotation speed loop control model, wherein the rotation speed loop control model is a relation between a rotation speed error determined based on a Lyapunov function and the target control current; Determining a target control voltage corresponding to the target control current according to a current-voltage conversion model, wherein the current-voltage conversion model is used for eliminating a direct-axis voltage in a synchronous motor state equation and deducing the relationship between the determined target control current and the target control voltage; And controlling the synchronous motor according to the target control voltage.
2. The method of claim 1, wherein the current-voltage scaling model is determined by: Determining that the direct-axis voltage in the state equation of the synchronous motor is 0, and determining that the voltage drop of the direct-axis inductance of the synchronous motor is 0; Deriving a direct-axis current state equation in the synchronous motor state equation based on the direct-axis voltage being 0 and the voltage drop of the direct-axis inductance being 0, so as to determine the relationship between direct-axis current and quadrature-axis current; Substituting the relation between the direct current and the quadrature current and the voltage drop of the quadrature inductance into a quadrature current state equation in the synchronous motor state equation to determine the relation between the quadrature current and the quadrature voltage, wherein the target control current is the quadrature current, and the target control voltage is the quadrature voltage.
3. The method according to claim 1, wherein the lyapunov function includes a rotation speed error term and an identification parameter term; the method further comprises the steps of: Deriving by combining a rotating speed state equation in the synchronous motor state equation and the Lyapunov function, and determining an identification parameter model and a corresponding rotating speed ring control model, wherein the rotating speed ring control model comprises identification parameters, and the identification parameters are determined through the identification parameter model; The determining a target control current includes: And determining the identification parameters and determining target control currents corresponding to the identification parameters.
4. The method of claim 3, wherein the identification parameter comprises at least one of an identification resistor, an identification load torque.
5. The method according to claim 1, wherein the method further comprises: Determining an actual position and a target position, and determining a position error; And determining a target control current based on the actual position, the target position and a position loop control model, wherein the position loop control model is a relation between a position error determined based on a Lyapunov function and the target control current.
6. The method of claim 5, wherein the position loop control model is determined by: constructing a first-order Lyapunov function containing a position error term; determining a secondary error based on a time derivative of the actual rotational speed and the target position; Constructing a second-order lyapunov function comprising a second-order error term and the first-order lyapunov function; And determining the relation between the position error and the secondary error based on the secondary Lyapunov function, and determining the position loop control model by combining the rotating speed state equation.
7. The method of claim 6, wherein the first-order lyapunov function further includes the identification parameter term, the method further comprising: determining an identification parameter model corresponding to a position ring and a position ring control model, wherein the identification parameter model corresponding to the position ring is used for determining identification parameters according to the actual position and the target position; The determining a target control current includes: And determining the identification parameters according to the actual position and the target position, and determining the target control current corresponding to the identification parameters.
8. A control device for a synchronous motor, wherein an electromagnetic time constant of the synchronous motor is less than a first threshold value, the device comprising: a parameter determination unit configured to determine an actual rotation speed and a target rotation speed; A current determination unit configured to determine a target control current based on the actual rotation speed, the target rotation speed, and a rotation speed loop control model, wherein the rotation speed loop control model is a relationship between a rotation speed error determined based on a lyapunov function and the target control current; The system comprises a voltage conversion unit, a current-voltage conversion unit and a control unit, wherein the voltage conversion unit is configured to determine a target control voltage corresponding to the target control current according to a current-voltage conversion model, and the current-voltage conversion model is used for eliminating a direct-axis voltage in a synchronous motor state equation and deducing the relationship between the determined target control current and the target control voltage; and a motor control unit configured to realize control of the synchronous motor according to the target control voltage.
9. An electronic device is characterized by comprising a processor and a memory; the memory is used for storing a computer program; the processor is configured to execute the control method of the synchronous motor according to any one of claims 1 to 7 by calling the computer program.
10. A synchronous motor system is characterized by comprising a control module and a synchronous motor, wherein, The control module performs the control method of the synchronous motor according to any one of claims 1 to 7 to control the synchronous motor.

Description

Synchronous motor control method, device, equipment and synchronous motor system Technical Field The disclosure relates to the technical field of synchronous motors, and in particular relates to a synchronous motor control method, a synchronous motor control device, a synchronous motor control equipment and a synchronous motor system. Background In the related art, for the control of the permanent magnet synchronous motor, after the target control current is determined, a closed-loop control mode is generally adopted to determine the difference value between the target control current and the actual current, then the lyapunov function is constructed, the relationship among the actual current, the target control current and the target control voltage is determined in a more complex mode, and then the target control voltage is determined for control. The method is complex in flow, and in some scenes (such as scenes with high current change rate), the actual current value is difficult to accurately measure, at the moment, a model is generally adopted to predict the current or a current observer is generally built, the cost is high, the control effect is poor, and the stability is poor. Disclosure of Invention In order to overcome the problems in the related art, the present disclosure provides a method, an apparatus, a device and a synchronous motor system for controlling a synchronous motor, which can solve the above problems. According to a first aspect of an embodiment of the disclosure, a control method of a synchronous motor is provided, wherein an electromagnetic time constant of the synchronous motor is smaller than a first threshold value, the method comprises the steps of determining an actual rotating speed and a target rotating speed, determining a target control current based on the actual rotating speed, the target rotating speed and a rotating speed loop control model, wherein the rotating speed loop control model is a relation between a rotating speed error determined based on a Lyapunov function and the target control current, determining a target control voltage corresponding to the target control current according to a current-voltage conversion model, wherein the current-voltage conversion model is a relation between a direct-axis voltage in a synchronous motor state equation and the target control current and the target control voltage obtained by deduction, and controlling the synchronous motor according to the target control voltage. According to a second aspect of the embodiment of the present disclosure, there is provided a control device of a synchronous motor, an electromagnetic time constant of which is smaller than a first threshold value, the device comprising a parameter determination unit configured to determine an actual rotation speed and a target rotation speed, a current determination unit configured to determine a target control current based on the actual rotation speed, the target rotation speed and a rotation speed loop control model, wherein the rotation speed loop control model is a relationship between a rotation speed error determined based on a lyapunov function and a target control current, a voltage conversion unit configured to determine a target control voltage corresponding to the target control current according to a current-voltage conversion model, wherein the current-voltage conversion model is a relationship between a direct-axis voltage and the target control voltage which is determined by eliminating the direct-axis voltage in a synchronous motor state equation, and a motor control unit configured to realize control of the synchronous motor according to the target control voltage. According to a third aspect of embodiments of the present disclosure, there is provided an electronic device including a processor, a memory, the memory storing a computer program, the processor being configured to execute the method for controlling a synchronous motor according to the first aspect by calling the computer program. According to a fourth aspect of the embodiments of the present disclosure, there is provided a synchronous motor system, the system including a control module and a synchronous motor, wherein the control module executes the control method of the synchronous motor according to the first aspect to control the synchronous motor. According to a fifth aspect of embodiments of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method as described in the first aspect. The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects: the electromagnetic time constant of the synchronous motor is smaller than a first threshold value, and the inductance is smaller. The method and the device can determine the actual rotating speed and the target rotating speed, determine the corresponding target control voltage based on