CN114679097A - Permanent magnet synchronous motor parameter correction method and device based on model reference - Google Patents
Permanent magnet synchronous motor parameter correction method and device based on model reference Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/20—Estimation of torque
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention provides a permanent magnet synchronous motor parameter correction method and device based on model reference, which comprises the steps of obtaining a first dynamic parameter table, and constructing an adjustable model according to the first dynamic parameter table; obtaining a rack calibration table, and constructing a reference model according to the rack calibration table; selecting n working points, determining a first adjustment precision parameter and a first combination parameter, and obtaining a first parameter of the adjustable model and a second parameter of the reference model; obtaining adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table based on the first parameter, the second parameter, the first combination parameter and the first adjustment precision parameter; and determining an adjusting parameter according to an optimization adjusting rule through the adjusting amount information and the adjusting ratio information, and optimizing according to the adjusting parameter. The technical problems of low efficiency and low precision in the parameter correction process of the permanent magnet synchronous motor in the prior art are solved.
Description
Technical Field
The invention relates to the field of permanent magnet synchronous motors of electric automobiles, in particular to a method and a device for correcting parameters of a permanent magnet synchronous motor based on model reference.
Background
With the popularization of electric vehicles and the superiority of permanent magnet synchronous motors, the application of the alternating current permanent magnet synchronous motors is more and more extensive, the torque control method of the alternating current permanent magnet synchronous motors based on the models is complex and various, the calculation amount is large, time and labor are wasted in the development and verification process, the ideal verification process is real vehicle testing, the secondary motor bench verification, the efficiency is very low, and sometimes conditions are not met.
However, in the prior art, the technical problems of low efficiency and low precision exist in the process of correcting the parameters of the permanent magnet synchronous motor.
Disclosure of Invention
The embodiment of the invention provides a method and a device for correcting parameters of a permanent magnet synchronous motor based on model reference, which solve the technical problems of low efficiency and low precision in the process of correcting the parameters of the permanent magnet synchronous motor in the prior art, and can accelerate the progress of product development based on the design and verification of a model, greatly shorten the development period of the whole vehicle, expose a problem and shorten a board in advance, feed back and correct design errors, reduce the waste of subsequent resources and achieve the technical effect of improving the efficiency and the precision of parameter correction.
In order to solve the technical problems, the invention adopts the following technical scheme:
in a first aspect, an embodiment of the present invention provides a method for correcting parameters of a permanent magnet synchronous motor based on model reference, where the method includes: obtaining a first dynamic parameter table, and constructing an adjustable model according to the first dynamic parameter table; obtaining a rack calibration table, and constructing a reference model according to the rack calibration table; selecting n working points, and determining a first adjustment precision parameter and a first combination parameter, wherein n is a positive integer greater than or equal to 2; obtaining a first parameter of the adjustable model and a second parameter of the reference model according to the n working points; obtaining adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table based on the first parameter, the second parameter, the first combination parameter and the first adjustment precision parameter; and determining an adjusting parameter according to an optimization adjusting rule through the adjusting amount information and the adjusting ratio information, and optimizing according to the adjusting parameter.
On the other hand, the embodiment of the invention also provides a permanent magnet synchronous motor parameter correction device based on model reference, which comprises: the first obtaining unit is used for obtaining a first dynamic parameter table and constructing an adjustable model according to the first dynamic parameter table; a second obtaining unit configured to obtain a gantry calibration table from which a reference model is constructed; the first determining unit is used for selecting n working points, and determining a first adjustment precision parameter and a first combination parameter, wherein n is a positive integer greater than or equal to 2; a third obtaining unit, configured to obtain, according to the n number of working points, a first parameter of the adjustable model and a second parameter of the reference model; a fourth obtaining unit, configured to obtain adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table based on the first parameter, the second parameter, the first combination parameter, and the first adjustment precision parameter; and the first optimization unit is used for determining an adjustment parameter according to an optimization adjustment rule through the adjustment amount information and the adjustment ratio information, and optimizing according to the adjustment parameter.
In a third aspect, the present invention provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method of the first aspect when executing the program.
In a fourth aspect, the invention provides a computer-readable storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the steps of the method as described above.
The invention has the beneficial effects that:
according to the scheme, the adjustable model is constructed by acquiring a dynamic parameter table calculated by software or calibrated by a rack, the reference model is constructed by the calibrated table of the rack, the torque deviation between the adjustable model and the reference model is released by a magnetic linkage and an electromagnetic torque equation, the PID (Proportion integration differentiation) method meeting the system stability is used for self-adaptation, the parameter table is finely adjusted on line, the parameters and the adjustment quantity to be adjusted are determined according to the adjustment quantity and the adjustment ratio of each adjustable parameter, and the progress of product development can be accelerated based on the design and verification of the model, so that the whole vehicle development period is greatly shortened, the problem is exposed in advance, the design error is fed back and corrected, the waste of subsequent resources is reduced, and the technical effect of improving the parameter correction efficiency and precision is achieved.
Drawings
Fig. 1 is a schematic flowchart of a method for correcting parameters of a permanent magnet synchronous motor based on model reference according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a method for correcting parameters of a permanent magnet synchronous motor based on model reference according to an embodiment of the present invention, where the method obtains adjustment amount information and adjustment ratio information of each adjustable parameter;
fig. 3 is a schematic flowchart of determining an adjustment parameter of a permanent magnet synchronous motor parameter correction method based on model reference according to an embodiment of the present invention;
fig. 4 is a schematic flowchart of a control parameter adjustment method for a model-reference-based permanent magnet synchronous motor parameter correction method according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a device for correcting parameters of a permanent magnet synchronous motor based on model reference according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The embodiment of the invention provides a method and a device for correcting parameters of a permanent magnet synchronous motor based on model reference, solves the technical problems of low efficiency and low precision in the process of correcting the parameters of the permanent magnet synchronous motor in the prior art, can accelerate the progress of product development based on the design and verification of a model, greatly shortens the development period of the whole vehicle, exposes a problem short board in advance, feeds back and corrects design errors, reduces the waste of subsequent resources, and achieves the technical effect of improving the efficiency and the precision of parameter correction.
Example one
As shown in fig. 1, an embodiment of the present invention provides a method for correcting parameters of a permanent magnet synchronous motor based on model reference, where the method includes:
step S100: obtaining a first dynamic parameter table, and constructing an adjustable model according to the first dynamic parameter table;
step S200: obtaining a rack calibration table, and constructing a reference model according to the rack calibration table;
furthermore, the first dynamic parameter table is consistent with the horizontal and vertical coordinates of the table calibration table.
Specifically, the adjustable model and the reference model are models of a permanent-magnet synchronous motor (PMSM) in a dq coordinate system, and the first dynamic parameter table is a dynamic parameter table L calculated by acquiring software or calibrated by a rackd，Lq，ΨfThe abscissa and ordinate of the first dynamic parameter table can be the quadrature-direct axis current id，iqOr total current isAnd electrical angle thetarAnd establishing an adjustable model according to the data.
Furthermore, the abscissa and the ordinate of the table frame calibration table are consistent with the abscissa and the ordinate of the first dynamic parameter table, that is, when the abscissa and the ordinate of the first dynamic parameter table are the quadrature-direct axis current id，iqThe horizontal and vertical coordinates of the table calibration meter are the same as the quadrature-direct axis current i d，iq(ii) a When the horizontal and vertical coordinates of the first dynamic parameter table are total current isAnd electrical angle thetarThen the horizontal and vertical coordinates of the table calibration table are the total current isAnd electrical angle thetar. And constructing a reference model according to the bench calibration table.
Step S300: selecting n working points, and determining a first adjustment precision parameter and a first combination parameter, wherein n is a positive integer greater than or equal to 2;
specifically, a flux linkage equation and a torque equation are constructed, and a torque deviation calculation formula of the adjustable model and the reference model is obtained based on the flux linkage equation and the torque equation:
Te-T*e＝3/2np(Ldidiq-Lqidiq+Ψfiq) Wherein L isdIs equivalent inductance of stator winding d, LqFor stator equivalent inductance around the q-axis, psi f is rotor flux linkage, and Ld、Lq、ΨfThe relation between the torque deviation and the parameter model for the adjustable parameter in the first dynamic parameter table parameter can be from Ld、Lq、ΨfThree degrees of freedom are taken into account for the adjustment.
And (3) carrying out self-adaptation by using a PID method meeting the system stability, and carrying out online fine adjustment on the parameter table. And the torque error of the adjustable model and the reference model is the influence weight of the target function for optimizing and adjusting on the error by parameter quantitative analysis. And then directly constructing a PID feedback link according to the weight influence and the error requirement, and respectively adjusting or combining and adjusting the parameters.
Selecting a certain number of working points, namely the n working points, wherein n is a positive integer greater than or equal to 2, and the first adjustment precision parameter is a preset adjustment precision, which may be 5%, for example; the first combination parameter is preferably determined (i)d iq) And (4) combining.
Step S400: obtaining a first parameter of the adjustable model and a second parameter of the reference model according to the n working points;
specifically, the first parameter is an electromagnetic torque parameter of the adjustable model, and the second parameter is an electromagnetic torque parameter of the reference model, wherein the first parameter is identified by Te, and the second parameter is identified by T*And e, marking. The calculation formula is as follows: te ═ 3/2np (Ψ)diq-Ψqid)，Ψd，ΨqIs the stator flux linkage d, q-axis component, id，iqAs stator currents d, q-axisAnd (4) components. According to a torque deviation calculation formula of the adjustable model and the reference model: Te-T*e＝3/2np(Ldidiq-Lqidiq+Ψfiq) And carrying out torque deviation calculation.
Step S500: obtaining adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table based on the first parameter, the second parameter, the first combination parameter and the first adjustment precision parameter;
step S600: and determining an adjusting parameter according to an optimization adjusting rule through the adjusting amount information and the adjusting ratio information, and optimizing according to the adjusting parameter.
Specifically, according to the above example, when the first adjustment precision parameter is set to 5%, Te-T is used*When e is less than-5%, quantizing to L according to a torque deviation calculation formulad、Lq、ΨfAnd calculating the adjustment quantity of each adjustable parameter meeting the first adjustment precision parameter.
When Te-T*When e is more than 5%, quantizing to L according to a torque deviation calculation formulad、Lq、ΨfAnd calculating the adjustment quantity of each adjustable parameter meeting the first adjustment precision parameter.
When Te-T*When e is less than 5% and more than-5%, the adjustment amount is not calculated.
And adjusting the first adjustment precision parameter according to all the working point fixed quantities to obtain adjustment quantity information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table. The optimized adjustment rule is a rule for adjusting the value and the ratio distribution of each adjustment parameter, for example, if the adjustment ratio of one parameter is significantly smaller than the other two parameters, for example, less than 10%, the parameter is selected as the only adjustment amount; if the adjustment ratio of two parameters is significantly smaller than the third parameter, such as less than 10%, but the adjustment ratio between the two parameters does not satisfy the previous one, selecting the first two parameters as adjustment amounts; otherwise, all three parameters are used as adjustment quantities. And calculating and obtaining the adjustment quantity of each parameter according to the optimization adjustment rule, and respectively controlling the enabling control and the control parameter of each adjustment quantity. The model-based design and verification can accelerate the progress of product development, greatly shorten the development cycle of the whole vehicle, expose problem short boards in advance, feed back and correct design errors, reduce the waste of subsequent resources and achieve the technical effect of improving the parameter correction efficiency and precision.
Further, in the embodiment of the present invention, step S500 further includes:
step S510: under the condition of open loop, calculating the first parameter Te of the adjustable model and the second parameter T of the reference model through a formula according to the selected data of the n working points*e, the calculation formula is as follows:
Te＝3/2np(Ψdiq-Ψqid)
wherein np is the motor pole pair number psidIs the d-axis component of the stator flux linkage, ΨqIs a q-axis component of the stator flux linkage, idStator current d-axis component, iqIs a stator current q-axis component, and (i)d，iq) Is the first combination parameter;
step S520: and obtaining the first parameter and the second parameter to obtain a first control parameter, and obtaining the adjustment quantity information and the adjustment ratio information of each adjustable parameter in the first dynamic parameter table according to the first control parameter and the first adjustment precision parameter.
Further, step S500 in the embodiment of the present invention further includes:
step S530: obtaining a torque deviation calculation formula through a flux linkage and an electromagnetic torque equation:
Te-T*e＝3/2np(Ldidiq-Lqidiq+Ψfiq)
wherein L isdIs equivalent inductance of stator winding d, LqFor stator equivalent inductance around the q-axis, psi f is rotor flux linkage, and Ld、Lq、ΨfThe parameter is an adjustable parameter in the first dynamic parameter table parameter;
step S540: performing L according to the comparison result of the first control parameter and the first adjustment precision parameter based on the torque deviation calculation formula d、Lq、ΨfAnd obtaining the adjustment quantity information and the adjustment ratio information of each adjustable parameter in the first dynamic parameter table according to the quantization result.
Specifically, under the open-loop condition, that is, under the condition of no feedback, the first parameter Te of the adjustable model and the second parameter T of the reference model are calculated based on the formula through the data of the n number of selected working points*e，Te＝3/2np(Ψdiq-Ψqid) Wherein np is the motor pole pair number psidIs the d-axis component of the stator flux linkage, ΨqIs a q-axis component of the stator flux linkage, idStator current d-axis component, iqIs a stator current q-axis component, and (i)d，iq) Is the first combined parameter, whered、ΨqThe magnetic flux is obtained by calculation according to a magnetic linkage equation, and the calculation formula is as follows: Ψd＝Ldid+Ψf，Ψq＝Lqiq. Based on the formula, a torque deviation calculation formula Te-T is deduced*e＝3/2np(Ldidiq-Lqidiq+Ψfiq). Performing L according to the comparison result of the first control parameter and the first adjustment precision parameter based on the torque deviation calculation formulad、Lq、ΨfAnd obtaining the adjustment quantity information and the adjustment ratio information of each adjustable parameter in the first dynamic parameter table according to the quantization result.
Further, as shown in fig. 2, step S540 in the embodiment of the present invention further includes:
step S541: when the first control parameter is within the first adjustment precision parameter range, the adjustment amount information is not calculated;
Step S542: when the first control parameter is not in the first adjustment precision parameter range, the adjustment amount information and the adjustment ratio information of each adjustable parameter in the first dynamic parameter table are obtained through calculation.
Specifically, when the first adjustment accuracy parameter is set to 5% as in the above example, the first adjustment accuracy parameter range is (-5%, 5%), and when the first control parameter is within the first adjustment accuracy parameter range, the adjustment amount information is not calculated, that is, when Te-T is defined as Te-T*When e is less than 5% and more than-5%, the adjustment amount is not calculated; when the first control parameter is not in the first adjustment precision parameter range, calculating to obtain the adjustment amount information and the adjustment ratio information of each adjustable parameter in the first dynamic parameter table, namely when Te-T is used*When e is less than-5%, quantizing to L according to a torque deviation calculation formulad、Lq、ΨfAnd calculating the adjustment quantity of each adjustable parameter meeting the first adjustment precision parameter. When Te-T*When e is more than 5%, quantizing to L according to a torque deviation calculation formulad、Lq、ΨfAnd calculating the adjustment quantity of each adjustable parameter meeting the first adjustment precision parameter. Obtaining L according to the calculation resultd、Lq、ΨfThe adjustment amounts and adjustment ratios of the three parameters.
Further, as shown in fig. 3, step S540 in the embodiment of the present invention further includes:
step S543: obtaining a first preset adjustment ratio, and when the adjustment ratios of a first adjustment parameter, a second adjustment parameter and a third adjustment parameter in the adjustment parameters meet the first preset adjustment ratio and a first preset condition is met, taking the first adjustment parameter as a unique adjustment amount;
step S544: when the adjustment ratio of a first adjustment parameter and a third adjustment parameter meets the first preset adjustment ratio, the adjustment ratio of a second adjustment parameter and a third adjustment parameter meets the first preset adjustment ratio, and the first preset condition is not met between the first adjustment parameter and the second adjustment parameter, a second preset condition is met, and the first adjustment parameter and the second adjustment parameter are used as adjustment quantities;
step S545: and when the first preset condition and the second preset condition are not met, taking the first adjusting parameter, the second adjusting parameter and the third adjusting parameter as adjusting amounts.
Specifically, the first predetermined adjustment ratio is a ratio of comparison references that is preset, and for example, may be set to 10%, when the adjustment ratio of one of the three adjustment parameters is significantly smaller than the other two parameters, that is, the first predetermined adjustment ratio is 10% satisfied, and a first predetermined condition is satisfied, the parameter (the first adjustment parameter) is selected as the unique adjustment amount.
When the adjustment ratio of a first adjustment parameter is significantly smaller than the adjustment ratio of a third adjustment parameter, that is, the first predetermined adjustment ratio is satisfied, and at the same time, the adjustment ratio of a second adjustment parameter is significantly smaller than the adjustment ratio of the third adjustment parameter, that is, the first predetermined adjustment ratio is satisfied, and the adjustment ratios of the first adjustment parameter, the second adjustment parameter, and the third adjustment parameter do not satisfy the first predetermined adjustment ratio, and the adjustment ratios of the second adjustment parameter, the first adjustment parameter, and the third adjustment parameter do not satisfy the first predetermined adjustment ratio, a second predetermined condition is satisfied, and the first adjustment parameter and the second adjustment parameter are used as adjustment amounts.
When the relation of the three parameters neither meets the first preset condition nor the second preset condition, the first adjusting parameter, the second adjusting parameter and the third adjusting parameter are all used as adjusting quantities
Further, as shown in fig. 4, step S540 in the embodiment of the present invention further includes:
step S546: when the parameters in the n working points meet the first preset condition, taking the first adjusting parameter as an adjusting parameter;
Step S547: when the parameters in the n working points meet the second preset condition, taking the first adjusting parameter and the second adjusting parameter as adjusting quantities, and adjusting the control parameters according to the proportional mean of the adjusting quantities;
step S548: and when the parameters in the n number of working points do not all meet the first preset condition or when the parameters in the n number of working points do not all meet the second preset condition, taking the first adjusting parameter, the second adjusting parameter and the third adjusting parameter as adjusting quantities, and adjusting the control parameters according to the adjusting quantity proportional average value.
Specifically, the enable control and the control parameter of each adjustment amount are controlled separately according to the adjustment amounts calculated by the above optimization principle. And if all the n working points meet the first preset condition, enabling control of corresponding adjustment quantity, and taking the first adjustment parameter as an adjustment parameter to shield control of non-adjustment quantity. And if all the n working points meet the second preset condition, enabling control of corresponding adjustment quantity, namely taking the first adjustment parameter and the second adjustment parameter as adjustment quantities, adjusting the control parameters according to the proportional mean of the adjustment quantities, and shielding control of non-adjustment quantities. When the two conditions are not the above two conditions, the three parameters are all used as adjustment quantities, the control of the three parameters is enabled, and the control parameters are adjusted according to the average value of the adjustment quantity ratios.
In summary, the method and the device for correcting parameters of a permanent magnet synchronous motor based on model reference provided by the embodiments of the present invention have the following technical effects:
the method comprises the steps of establishing an adjustable model by acquiring a dynamic parameter table of software calculation or bench calibration, establishing a reference model by using a bench calibration table, pushing out the torque deviation of the adjustable model and the reference model by using a flux linkage and an electromagnetic torque equation, carrying out self-adaptation by using a PID (proportion integration differentiation) method meeting the system stability, finely adjusting the parameter table on line, determining parameters and adjustment quantities to be adjusted according to the adjustment quantities and adjustment ratios of all adjustable parameters, and based on the design and verification of the model, accelerating the progress of product development, greatly shortening the development period of the whole vehicle, exposing a problem board in advance, feeding back and correcting design errors, reducing the waste of subsequent resources and achieving the technical effect of improving the parameter correction efficiency and precision.
Example two
Based on the same inventive concept as the method for correcting the parameter of the permanent magnet synchronous motor based on model reference in the foregoing embodiment, the present invention further provides a device for correcting the parameter of the permanent magnet synchronous motor based on model reference, as shown in fig. 5, the device includes:
The first obtaining unit 11 is configured to obtain a first dynamic parameter table, and construct an adjustable model according to the first dynamic parameter table;
a second obtaining unit 12, wherein the second obtaining unit 12 is used for obtaining a bench calibration table, and constructing a reference model according to the bench calibration table;
the first determining unit 13 is configured to select n number of working points, and determine a first adjustment precision parameter and a first combination parameter, where n is a positive integer greater than or equal to 2;
a third obtaining unit 14, where the third obtaining unit 14 is configured to obtain, according to the n number of working points, a first parameter of the adjustable model and a second parameter of the reference model;
a fourth obtaining unit 15, where the fourth obtaining unit 15 is configured to obtain adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table based on the first parameter, the second parameter, the first combination parameter, and the first adjustment precision parameter;
a first optimizing unit 16, where the first optimizing unit 16 is configured to determine an adjustment parameter according to an optimization adjustment rule through the adjustment amount information and the adjustment ratio information, and perform optimization according to the adjustment parameter.
Further, the apparatus further comprises:
a fifth obtaining unit, configured to calculate, through a formula, the first parameter Te of the adjustable model and the second parameter T of the reference model according to the data of the selected n number of working points under an open-loop condition*e, the calculation formula is as follows:
Te＝3/2np(Ψdiq-Ψqid)
wherein np is the motor pole pair number psidIs the d-axis component of the stator flux linkage, ΨqIs a q-axis component of the stator flux linkage, idStator current d-axis component, iqIs a stator current q-axis component, and (i)d，iq) Is the first combination parameter;
a sixth obtaining unit, configured to obtain the first control parameter from the first parameter and the second parameter, and obtain adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table according to the first control parameter and the first adjustment precision parameter.
Further, the apparatus further comprises:
a seventh obtaining unit for obtaining a torque deviation calculation formula by a flux linkage and an electromagnetic torque equation:
Te-T*e＝3/2np(Ldidiq-Lqidiq+Ψfiq)
wherein L isdIs equivalent inductance of stator winding d, LqFor stator equivalent inductance around the q-axis, psi f is rotor flux linkage, and Ld、Lq、ΨfThe parameter is an adjustable parameter in the first dynamic parameter table parameter;
A first calculation unit for performing L according to a comparison result of the first control parameter and the first adjustment accuracy parameter based on the torque deviation calculation formulad、Lq、ΨfAnd obtaining the adjustment quantity information and the adjustment ratio information of each adjustable parameter in the first dynamic parameter table according to the quantization result.
Further, the apparatus further comprises:
a second calculation unit configured not to calculate adjustment amount information when the first control parameter is within the first adjustment accuracy parameter range;
and the third calculating unit is used for calculating and obtaining the adjustment quantity information and the adjustment ratio information of each adjustable parameter in the first dynamic parameter table when the first control parameter is not in the first adjustment precision parameter range.
Further, the apparatus further comprises:
an eighth obtaining unit, configured to obtain a first predetermined adjustment ratio, and when an adjustment ratio of a first adjustment parameter among the adjustment parameters, the second adjustment parameter, and a third adjustment parameter satisfies the first predetermined adjustment ratio, and at this time, a first predetermined condition is satisfied, take the first adjustment parameter as a unique adjustment amount;
A ninth obtaining unit, configured to, when an adjustment ratio of a first adjustment parameter and a third adjustment parameter satisfies the first predetermined adjustment ratio, an adjustment ratio of the second adjustment parameter and the third adjustment parameter satisfies the first predetermined adjustment ratio, and the first preset condition is not satisfied between the first adjustment parameter and the second adjustment parameter, satisfy a second predetermined condition at this time, and use the first adjustment parameter and the second adjustment parameter as adjustment amounts.
A tenth obtaining unit configured to take the first adjustment parameter, the second adjustment parameter, and the third adjustment parameter as adjustment amounts when neither the first predetermined condition nor the second predetermined condition is satisfied.
Further, the apparatus further comprises:
an eleventh obtaining unit, configured to, when the parameters in the n number of working points all satisfy the first predetermined condition, use the first adjustment parameter as an adjustment parameter;
a twelfth obtaining unit, configured to, when the parameters in the n number of working points all satisfy the second predetermined condition, use the first adjustment parameter and the second adjustment parameter as adjustment amounts, and adjust the control parameter according to an adjustment amount proportional mean value;
A thirteenth obtaining unit, configured to, when the parameters in the n number of working points do not all satisfy the first predetermined condition or when the parameters in the n number of working points do not all satisfy the second predetermined condition, take the first adjustment parameter, the second adjustment parameter, and the third adjustment parameter as adjustment amounts at this time, and adjust the control parameter according to an adjustment amount proportional average value.
Further, the apparatus further comprises:
and the consistency unit is used for keeping the horizontal and vertical coordinates of the first dynamic parameter table and the bench calibration table consistent.
Various changes and specific examples of the method for correcting parameters of a permanent magnet synchronous motor based on model reference in the first embodiment of fig. 1 are also applicable to the device for correcting parameters of a permanent magnet synchronous motor based on model reference in this embodiment, and through the foregoing detailed description of the method for correcting parameters of a permanent magnet synchronous motor based on model reference, those skilled in the art can clearly know the method for implementing the device for correcting parameters of a permanent magnet synchronous motor based on model reference in this embodiment, so for the brevity of the description, detailed description is not repeated here.
Exemplary electronic device
An electronic device of an embodiment of the present invention is described below with reference to fig. 6.
Fig. 6 illustrates a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Based on the inventive concept of a model reference-based permanent magnet synchronous motor parameter correction method in the foregoing embodiment, the present invention further provides an electronic device, and the electronic device according to an embodiment of the present invention is described below with reference to fig. 6. The electronic device may be the removable device itself or a stand-alone device separate therefrom, on which a computer program is stored which, when being executed by a processor, carries out the steps of any of the methods as described hereinbefore.
As shown in fig. 6, the electronic device 50 includes one or more processors 51 and a memory 52.
The processor 51 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 50 to perform desired functions.
The memory 52 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium and executed by the processor 51 to implement the methods of the various embodiments of the invention described above and/or other desired functions.
In one example, the electronic device 50 may further include: an input device 53 and an output device 54, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
The embodiment of the invention solves the technical problems of low efficiency and low precision in the process of correcting the parameters of the permanent magnet synchronous motor in the prior art, and can accelerate the progress of product development based on the design and verification of a model, greatly shorten the development period of the whole vehicle, expose a problem short plate in advance, feed back a correction design error, reduce the waste of subsequent resources and achieve the technical effect of improving the parameter correction efficiency and precision.
Through the above description of the embodiments, those skilled in the art will clearly understand that the present invention may be implemented by software plus necessary general hardware, and may also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components and the like. Generally, functions performed by computer programs can be easily implemented by corresponding hardware, and specific hardware structures for implementing the same functions may be various, such as analog circuits, digital circuits, or dedicated circuits. However, the implementation of a software program is a more preferable embodiment for the present invention. Based on such understanding, the technical solutions of the present invention may be substantially implemented or a part of the technical solutions contributing to the prior art may be embodied in the form of a software product, and the computer software product is stored in a readable storage medium, such as a floppy disk, a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk or an optical disk of a computer, and includes several instructions for causing a computer device to execute the method according to the embodiments of the present invention.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, it may be implemented in whole or in part in the form of a computer program product.
The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on or transmitted from a computer-readable storage medium to another computer-readable storage medium, which may be magnetic (e.g., floppy disks, hard disks, tapes), optical (e.g., DVDs), or semiconductor (e.g., Solid State Disks (SSDs)), among others.
While the preferred embodiments of the present invention have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.
Claims (10)
1. A method for correcting parameters of a permanent magnet synchronous motor based on model reference is characterized by comprising the following steps:
obtaining a first dynamic parameter table, and constructing an adjustable model according to the first dynamic parameter table;
obtaining a bench calibration table, and constructing a reference model according to the bench calibration table;
selecting n working points, and determining a first adjustment precision parameter and a first combination parameter, wherein n is a positive integer greater than or equal to 2;
obtaining a first parameter of the adjustable model and a second parameter of the reference model according to the n working points;
obtaining adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table based on the first parameter, the second parameter, the first combination parameter and the first adjustment precision parameter;
and determining an adjustment parameter according to an optimization adjustment rule through the adjustment amount information and the adjustment ratio information, and optimizing according to the adjustment parameter.
2. The method of claim 1, wherein the method further comprises:
under the condition of open loop, calculating the first parameter Te of the adjustable model and the second parameter T of the reference model through a formula according to the selected data of the n working points *e, the calculation formula is as follows:
Te＝3/2np(Ψdiq-Ψqid)
wherein np is the motor pole pair number psidIs the d-axis component of the stator flux linkage, ΨqIs a q-axis component of the stator flux linkage, idStator current d-axis component, iqIs a stator current q-axis component, and (i)d，iq) Is the first combination parameter;
and obtaining the first parameter and the second parameter to obtain a first control parameter, and obtaining the adjustment quantity information and the adjustment ratio information of each adjustable parameter in the first dynamic parameter table according to the first control parameter and the first adjustment precision parameter.
3. The method of claim 2, wherein the method further comprises:
obtaining a torque deviation calculation formula through a flux linkage and an electromagnetic torque equation:
Te-T*e＝3/2np(Ldidiq-Lqidiq+Ψfiq)
wherein L isdIs equivalent inductance of stator winding d, LqFor equivalent inductance of the stator about the q-axis, psi f is the rotor flux linkage, and Ld、Lq、ΨfThe parameter is an adjustable parameter in the first dynamic parameter table parameter;
performing L according to the comparison result of the first control parameter and the first adjustment precision parameter based on the torque deviation calculation formulad、Lq、ΨfAnd obtaining the adjustment quantity information and the adjustment ratio information of each adjustable parameter in the first dynamic parameter table according to the quantization result.
4. The method of claim 3, wherein the method further comprises:
When the first control parameter is within the first adjustment precision parameter range, not calculating adjustment quantity information;
when the first control parameter is not in the first adjustment precision parameter range, the adjustment amount information and the adjustment ratio information of each adjustable parameter in the first dynamic parameter table are obtained through calculation.
5. The method of claim 3, wherein the determining adjustment parameters according to the optimization adjustment rule and the optimizing according to the adjustment parameters further comprises:
obtaining a first preset adjustment ratio, and when the adjustment ratios of a first adjustment parameter, a second adjustment parameter and a third adjustment parameter in the adjustment parameters meet the first preset adjustment ratio and a first preset condition is met, taking the first adjustment parameter as a unique adjustment amount;
when the adjustment ratio of a first adjustment parameter and a third adjustment parameter meets the first preset adjustment ratio, the adjustment ratio of a second adjustment parameter and a third adjustment parameter meets the first preset adjustment ratio, and the first preset condition is not met between the first adjustment parameter and the second adjustment parameter, a second preset condition is met, and the first adjustment parameter and the second adjustment parameter are used as adjustment quantities;
And when the first preset condition and the second preset condition are not met, taking the first adjusting parameter, the second adjusting parameter and the third adjusting parameter as adjusting amounts.
6. The method of claim 5, wherein the method further comprises:
when the parameters in the n working points meet the first preset condition, taking the first adjusting parameter as an adjusting parameter;
when the parameters in the n working points meet the second preset condition, taking the first adjusting parameter and the second adjusting parameter as adjusting quantities, and adjusting the control parameters according to the proportional mean of the adjusting quantities;
and when the parameters in the n number of working points do not all meet the first preset condition or when the parameters in the n number of working points do not all meet the second preset condition, taking the first adjusting parameter, the second adjusting parameter and the third adjusting parameter as adjusting quantities, and adjusting the control parameters according to the adjusting quantity proportional average value.
7. The method of claim 1, wherein the first dynamic parameter table is aligned with the abscissa and ordinate of the table.
8. A device for correcting parameters of a permanent magnet synchronous motor based on model reference, the device comprising:
the first obtaining unit is used for obtaining a first dynamic parameter table and constructing an adjustable model according to the first dynamic parameter table;
a second obtaining unit configured to obtain a gantry calibration table from which a reference model is constructed;
the first determining unit is used for selecting n working points, and determining a first adjustment precision parameter and a first combination parameter, wherein n is a positive integer greater than or equal to 2;
a third obtaining unit, configured to obtain, according to the n number of working points, a first parameter of the adjustable model and a second parameter of the reference model;
a fourth obtaining unit, configured to obtain adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table based on the first parameter, the second parameter, the first combination parameter, and the first adjustment precision parameter;
and the first optimization unit is used for determining an adjustment parameter according to an optimization adjustment rule through the adjustment amount information and the adjustment ratio information, and optimizing according to the adjustment parameter.
9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor; -wherein the processor, when executing the program, implements the method of any of claims 1 to 5.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109428525A (en) * | 2018-10-31 | 2019-03-05 | 天津工业大学 | Permanent magnet synchronous motor maximum torque per ampere control method based on parameter self modification |
| CN112886887A (en) * | 2019-11-29 | 2021-06-01 | 比亚迪股份有限公司 | Control method and control device for an electric machine, motor vehicle and storage medium |
| CN113162502A (en) * | 2020-01-22 | 2021-07-23 | 北京新能源汽车股份有限公司 | Method and device for correcting calibration value of synchronous motor |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109428525A (en) * | 2018-10-31 | 2019-03-05 | 天津工业大学 | Permanent magnet synchronous motor maximum torque per ampere control method based on parameter self modification |
| CN112886887A (en) * | 2019-11-29 | 2021-06-01 | 比亚迪股份有限公司 | Control method and control device for an electric machine, motor vehicle and storage medium |
| CN113162502A (en) * | 2020-01-22 | 2021-07-23 | 北京新能源汽车股份有限公司 | Method and device for correcting calibration value of synchronous motor |
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