阅读说明：本技术 一种基于lm算法的永磁同步电机参数辨识方法 (A kind of permanent magnet synchronous motor parameter identification method based on LM algorithm ) 是由 梁恒辉 余伟 李鹏飞 邓敏 于 2019-09-09 设计创作，主要内容包括：本发明提供了一种基于LM算法的永磁同步电机参数辨识方法,其包括如下步骤：1)利用逆M序列作为系统激励信号,采集永磁同步电机的q轴电压、q轴电流、d轴电流以及转速；2)构建永磁同步电机离散方程；3)通过LM算法求离散方程组；4)求得永磁同步电机的定子电阻、交直轴电感以及永磁体磁链的值。本发明基于LM算法对永磁同步电机的参数进行辨识,乃是一种对永磁同步电机参数进行辨识的新的方法,其对永磁同步电磁参数进行辨识,无需将部分电机参数设定为固定值,也无需利用额外的测量仪器,具有成本低和适用性的特点。(The present invention provides a kind of permanent magnet synchronous motor parameter identification methods based on LM algorithm comprising following steps: 1) using inverted M sequence as system incentive signal, acquiring q shaft voltage, q shaft current, d shaft current and the revolving speed of permanent magnet synchronous motor；2) permanent magnet synchronous motor discrete equation is constructed；3) discrete equation group is asked by LM algorithm；4) stator resistance of permanent magnet synchronous motor, the value of ac-dc axis inductance and permanent magnet flux linkage are acquired.The present invention is based on parameter of the LM algorithm to permanent magnet synchronous motor to recognize, it is the new method that a kind of pair of permanent magnet synchronous motor parameter is recognized, it recognizes permanent-magnet synchronous electromagnetic parameter, it is not necessary that the part parameter of electric machine is set as fixed value, without additional measuring instrument is utilized, has the characteristics that at low cost and applicability.)

1. a kind of permanent magnet synchronous motor parameter identification method based on LM algorithm, which comprises the following steps:

Step 1, using inverted M sequence as system incentive signal, the q shaft voltage u of permanent magnet synchronous motor is acquired_q, q shaft current i_q、d Shaft current i_dAnd rotational speed omega；

Step 2, permanent magnet synchronous motor discrete equation is constructed, detailed process is as follows:

2A establishes permanent magnet synchronous motor q shaft voltage equation

2B is carried out sliding-model control to permanent magnet synchronous motor q shaft voltage equation, is obtained using the vector control method of id=0AndAfter transposition

2C is enabledIn conjunction withIt obtains

2D is enabledIt can obtain Wherein RS is stator resistance, and L is exchange axle inductance, ψ_fIt is permanent magnet flux linkage, T is discrete time；

Step 3, by the numerical value of a, b, c and d in LM algorithm solution procedure 2, detailed process is as follows:

3A selectes fitting function, enables θ=(a b c d)^T, i.e.,Initial point θ 0 is chosen, and damping factor is set For λ 0=0.01, wherein k is the number of iterations, K_maxFor maximum number of iterations, n is the number for acquiring numerical value；

3B is calculatedCalculate functionJacobian matrix

3C calculates g_k=(J^TJ+λ_kI)^-1J^T(y-Aθ_k), θ k+1=θ k+gk；

3D, ifλ k+1=λ k/10, return step 3B are enabled, ifThen enable λ k+1=10 λ k, return step step 3C；

Step 4, the numerical value of a, b, c and d for being obtained according to step 3 substitute into formula To the stator resistance R of permanent-magnet synchronous electromagnetism_S, ac-dc axis inductance L and permanent magnet flux linkage ψ_fValue.

2. a kind of permanent magnet synchronous motor parameter identification method based on LM algorithm as described in claim 1, which is characterized in that In In step 1, using inverted M sequence as system incentive signal, the q shaft voltage u of permanent magnet synchronous motor is acquired_q, q shaft current i_q, d axis Electric current i_dAnd rotational speed omega method particularly includes:

1A sets constant for permanent magnet synchronous motor q shaft voltage, and inverted M sequence is added to and is operated in stable normality forever In the q shaft voltage of magnetic-synchro motor, first is carried out to the q shaft voltage of permanent magnet synchronous motor, q shaft current, d shaft current and revolving speed Secondary sampling；

1B keeps permanent magnet synchronous motor q shaft voltage constant, on the basis of permanent magnet synchronous motor is not superimposed inverted M sequence, to permanent magnetism Q shaft voltage, q shaft current, d shaft current and the revolving speed of synchronous motor carry out second and sample；

1C, q shaft voltage, q shaft current, d shaft current and the revolving speed and step 2 of the permanent magnet synchronous motor obtained using step 1 are obtained Q shaft voltage, q shaft current, d shaft current and the revolving speed of the permanent magnet synchronous motor arrived, are utilized inverted M sequence as system incentive When signal, the q shaft voltage u of permanent magnet synchronous motor_q, q shaft current i_q, d shaft current i_dAnd rotational speed omega.

Technical field

The present invention relates to permanent magnet synchronous motor technical fields, in particular to a kind of permanent-magnet synchronous based on LM algorithm Parameter of electric machine discrimination method.

Background technique

Parameter identification is the important means for obtaining magneto alternator parameter, since motor control is theoretical and control technology Continuous development and high-precision electric machines control technology an urgent demand, researcher more pays attention to obtain height from real time The control performance to permanent magnet synchronous motor is improved in terms of the precision parameter of electric machine.If designed controller parameter and controlled electricity The matching of machine parameter is improper, will have an impact to the control performance of whole system.

By largely retrieving some typical prior arts of discovery, if number of patent application is in 201710538011.9 State's patent of invention proposes a kind of permanent magnet synchronous motor parameter identification system based on improvement least square method, same by permanent magnetism It walks parameter of electric machine acquisition system and control system and picks out permanent magnetism with based on the Identification of parameter for improving least square method Real time resistance value, real-time inductance value, the real-time permanent magnet flux linkage value of synchronous motor, the identification system include permanent magnet synchronous motor ginseng Number acquisition system, control system for permanent-magnet synchronous motor and Identification of parameter, in which: permanent magnet synchronous motor parameter acquisition system System has voltage collector, current collector, revolving speed collector, they pass through data line and tested permanent magnet synchronous motor phase Even；The control system for permanent-magnet synchronous motor uses the sine wave vector control system of direct-axis current id=0；The parameter identification Algorithm is used based on the permanent magnet synchronous motor parameter identification method for improving least square method.Permanent magnet synchronous electric can be improved in the invention The efficiency of machine parameter identification accelerates identification speed, it can also be ensured that the accuracy of parameter identification.

It is more that the Chinese invention patent that for another example number of patent application is 201910309508.2 proposes a kind of permanent magnet synchronous motor Parameter automatic identification method inputs the basic of permanent magnet synchronous motor to the motor driver of permanent magnet synchronous motor by host computer Parameter, then PC control motor driver operates under open loop control mode, while permanent magnet synchronous motor is in unloaded shape Under condition, PC control motor driver is successively to the axis inductor of permanent magnet synchronous motor, d-axis inductance, motor zero, stator Resistance, motor magnetic linkage are repeatedly recognized, and the overall relative deviation for obtaining parameters makees poor, the overall relative deviation of finally judgement Whether satisfaction restrains, if convergence, automatic identification is completed；The invention overcome low efficiency present in the method for being commonly designed, The features such as the problem of poor universality, possesses and does not need using additional auxiliary tool, and operation is succinct, identification precision is high.

The Chinese invention patent that for another example number of patent application is 201810170911.7 discloses a kind of permanent magnet synchronous motor ginseng Number recognition methods, device and controller, wherein the permanent magnet synchronous motor parameter identification method includes: to obtain tested motor work Make in the first parameter when predetermined current；According to first parameter, the second parameter of the tested motor is determined；According to described First parameter and second parameter calculate axis inductor, rotor permanent magnet magnetic linkage and d-axis inductance.The invention can be according to need The permanent magnet synchronous motor parameter under each operating condition needed for obtaining is sought, and it realizes that simply test result is accurate.

It can be seen that as it can be seen that how to be recognized to the parameter of permanent magnet synchronous motor, the urgently processing in practical application Practical problem there are also much do not propose specific solution

Summary of the invention

A kind of permanent magnet synchronous motor parameter identification method based on LM algorithm is provided for overcome the deficiencies in the prior art, The specific technical solution of the present invention is as follows:

A kind of permanent magnet synchronous motor parameter identification method based on LM algorithm, comprising the following steps:

Step 1, using inverted M sequence as system incentive signal, the q shaft voltage u of permanent magnet synchronous motor is acquired_q, q shaft current i_q, d shaft current i_dAnd rotational speed omega；

Step 2, permanent magnet synchronous motor discrete equation is constructed, detailed process is as follows:

2A establishes permanent magnet synchronous motor q shaft voltage equation

2B is carried out sliding-model control to permanent magnet synchronous motor q shaft voltage equation, is obtained using the vector control method of id=0 It arrivesAndAfter transposition

2C is enabledIn conjunction withIt obtains

2D is enabledIt can obtain Wherein RS is stator resistance, and L is ac-dc axis inductance, ψ_fIt is permanent magnet flux linkage, T is discrete time；

Step 3, by the numerical value of a, b, c and d in LM algorithm solution procedure 2, detailed process is as follows:

3A selectes fitting function, enables θ=(a b c d)^T, i.e.,Choose initial point θ 0, and will damp because Son is set as λ 0=0.01, and wherein k is the number of iterations, K_maxFor maximum number of iterations, n is the number for acquiring numerical value；

3B is calculatedCalculate functionJacobian matrix

3C calculates g_k=(J^TJ+λ_kI)^-1J^T(y-Aθ_k), θ k+1=θ k+gk；

3D, ifλ k+1=λ k/10, return step 3B are enabled, ifThen enable λ k+1=10 λ k, return step step 3C；

Step 4, the numerical value of a, b, c and d for being obtained according to step 3 substitute into formula Obtain the stator resistance R of permanent-magnet synchronous electromagnetism_S, exchange axle inductance L and permanent magnet flux linkage ψ_fValue.

Optionally, in step 1, using inverted M sequence as system incentive signal, the q axis electricity of permanent magnet synchronous motor is acquired Press u_q, q shaft current i_q, d shaft current i_dAnd rotational speed omega method particularly includes:

1A sets constant for permanent magnet synchronous motor q shaft voltage, and inverted M sequence is added to and is operated in stable normality Permanent magnet synchronous motor q shaft voltage in, to the q shaft voltage of permanent magnet synchronous motor, q shaft current, d shaft current and revolving speed carry out It samples for the first time；

1B keeps permanent magnet synchronous motor q shaft voltage constant, right on the basis of permanent magnet synchronous motor is not superimposed inverted M sequence Q shaft voltage, q shaft current, d shaft current and the revolving speed of permanent magnet synchronous motor carry out second and sample；

1C utilizes q shaft voltage, q shaft current, d shaft current and the revolving speed and step of the permanent magnet synchronous motor that step 1 obtains Q shaft voltage, q shaft current, d shaft current and the revolving speed of 2 obtained permanent magnet synchronous motors, are utilized inverted M sequence as system When pumping signal, the q shaft voltage u of permanent magnet synchronous motor_q, q shaft current i_q, d shaft current i_dAnd rotational speed omega.

Beneficial effect obtained by the present invention includes:

1, select inverted M sequence as the input signal of permanent magnet synchronous motor parameter identification, can to permanent magnet synchronous motor into The lasting excitation of row improves the accuracy of permanent magnet synchronous motor parameter identification convenient for the adjusting of parameter；

2, the present invention is based on parameter of the LM algorithm to permanent magnet synchronous motor to recognize, and is a kind of pair of permanent magnet synchronous motor The new method that parameter is recognized, recognizes permanent-magnet synchronous electromagnetic parameter, it is not necessary that the part parameter of electric machine to be set as Fixed value has the characteristics that at low cost and applicability without additional measuring instrument is utilized

Detailed description of the invention

From following description with reference to the accompanying drawings it will be further appreciated that the present invention, focuses on the principle for showing embodiment On.

Fig. 1 is a kind of process signal of the permanent magnet synchronous motor parameter identification method based on LM algorithm in the embodiment of the present invention Figure；

Fig. 2 is to acquire the q axis of permanent magnet synchronous motor using inverted M sequence as system incentive signal in the embodiment of the present invention Voltage u_q, q shaft current i_q, d shaft current i_dAnd the flow diagram of the specific method of rotational speed omega.

Specific embodiment

In order to enable the objectives, technical solutions, and advantages of the present invention are more clearly understood, below in conjunction with embodiment, to this Invention is further elaborated；It should be appreciated that described herein, the specific embodiments are only for explaining the present invention, and does not have to It is of the invention in limiting.To those skilled in the art, after access is described in detail below, other systems of the present embodiment System, method and/or feature will become obvious.All such additional systems, method, feature and advantage are intended to be included in It in this specification, is included within the scope of the invention, and by the protection of the appended claims.In description described in detail below The other feature of the disclosed embodiments, and these characteristic roots will be apparent according to described in detail below.

The same or similar label correspond to the same or similar components in the attached drawing of the embodiment of the present invention；It is retouched in of the invention In stating, it is to be understood that if the orientation or positional relationship for having the instructions such as term " on ", "lower", "left", "right" is based on attached drawing Shown in orientation or positional relationship, be merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion is signified Device or component must have a particular orientation, be constructed and operated in a specific orientation, therefore positional relationship is described in attached drawing Term only for illustration, should not be understood as the limitation to this patent, for the ordinary skill in the art, can To understand the concrete meaning of above-mentioned term as the case may be.

The present invention be a kind of permanent magnet synchronous motor parameter identification method based on LM algorithm, told about according to Fig. 1-2 with Lower embodiment: