阅读说明：本技术 一种n*3相永磁同步电机绕组单元自控制方法与装置 (Self-control method and device for winding unit of N x 3 phase permanent magnet synchronous motor ) 是由 廖武 黄守道 黄晟 刘钰 李梦迪 梁戈 冯聪琪 吴轩 于 2021-01-15 设计创作，主要内容包括：本发明公开了一种N*3相永磁同步电机绕组单元自控制方法与装置,包括针对现有多d-q坐标变换和VSD矢量空间解耦变换的数学模型,存在各三相绕组单元之间耦合强、控制复杂、不能与三相永磁电机通用,可移植性差等问题,本发明将N*3相永磁同步电机等效变换解耦为n个等效独立的三相永磁同步电机模型；采用电机在线参数辨识方法得到每个三相永磁同步电机模型的电机参数；根据三相永磁同步电机模型及电机参数对N*3相永磁同步电机的绕组单元自控制。本发明无需控制单元之间的实时数据通信,可沿用三相永磁电机控制算法,扩展性强,能够实现对每个三相绕组单元完全独立控制。(The invention discloses an automatic control method and device for winding units of an N x 3-phase permanent magnet synchronous motor, which comprises the steps of decoupling N x 3-phase permanent magnet synchronous motor into N equivalent independent three-phase permanent magnet synchronous motor models by aiming at the problems of strong coupling between three-phase winding units, complex control, incapability of being universal with a three-phase permanent magnet motor, poor portability and the like of the conventional mathematical model of multi-d-q coordinate transformation and VSD vector space decoupling transformation; obtaining motor parameters of each three-phase permanent magnet synchronous motor model by adopting a motor online parameter identification method; and automatically controlling the winding unit of the N x 3-phase permanent magnet synchronous motor according to the three-phase permanent magnet synchronous motor model and the motor parameters. The invention does not need real-time data communication among the control units, can continue to use the three-phase permanent magnet motor control algorithm, has strong expansibility and can realize completely independent control on each three-phase winding unit.)

1. An N x 3 phase permanent magnet synchronous motor winding unit self-control method is characterized by comprising the following steps:

1) the N x 3-phase permanent magnet synchronous motor is equivalently transformed and decoupled into N equivalent independent three-phase permanent magnet synchronous motor models, wherein N is the number of three-phase winding units of the N x 3-phase permanent magnet synchronous motor, and N is equal to N for the N x 3-phase permanent magnet synchronous motor;

2) obtaining motor parameters of each three-phase permanent magnet synchronous motor model by adopting a motor online parameter identification method;

3) and automatically controlling the winding unit of the N x 3-phase permanent magnet synchronous motor according to the three-phase permanent magnet synchronous motor model and the motor parameters.

2. The winding unit self-control method of an N x 3-phase permanent magnet synchronous motor according to claim 1, wherein, in the N equivalent independent three-phase permanent magnet synchronous motor models obtained in step 1), under the condition that the winding current is distributed evenly, the approximate function expression of any ith equivalent independent three-phase permanent magnet synchronous motor model is as follows:

in the above formula, u_diAnd u_qiDq-axis components, R, of the stator voltage of the i-th winding element, respectively_siIs the resistance of the i-th winding unit, i_diAnd i_qiDq-axis components, L, of the winding current of the i-th winding element, respectively_diAnd L_qiThe dq axis components of the inductance of the i-th winding unit are respectively, n is the number of the winding units, and L_mdAnd L_mqDq-axis components, omega, of mutual inductance of two adjacent winding elements, respectively_eFor permanent-magnet synchronization of N x 3 phasesElectrical angular velocity of the motor, #_fIs a permanent magnet flux linkage.

3. The winding unit self-control method of an N x 3-phase permanent magnet synchronous motor according to claim 1, wherein in the N equivalent independent three-phase permanent magnet synchronous motor models obtained in step 1), under any distribution of winding current, an approximate function expression of any ith equivalent independent three-phase permanent magnet synchronous motor model is as follows:

in the above formula, u_diAnd u_qiDq-axis components, R, of the stator voltage of the i-th winding element, respectively_siIs the resistance of the i-th winding unit, i_diAnd i_qiDq-axis components, L, of the winding current of the i-th winding element, respectively_diAnd L_qiDq-axis components, L, of the inductances of the i-th winding elements, respectively_mdAnd L_mqDq-axis components, omega, of mutual inductance of two adjacent winding elements, respectively_eFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machine_fIs a permanent magnet flux linkage.

4. The winding unit self-control method of an N x 3-phase permanent magnet synchronous motor according to claim 1, wherein the step 1) comprises:

1.1) determining a voltage equation and a flux linkage equation of each winding unit of the N x 3-phase permanent magnet synchronous motor;

1.2) obtaining a winding equation of each winding unit by combining a voltage equation and a flux linkage equation according to the mutual inductance equality among the winding units;

1.3) simplifying winding equations of all winding units according to the current distribution condition of all winding units of the N x 3-phase permanent magnet synchronous motor, thereby obtaining N equivalent independent three-phase permanent magnet synchronous motor models.

5. The winding unit self-control method of the N x 3-phase permanent magnet synchronous motor according to claim 4, wherein the function expression of the voltage equation of any ith winding unit determined in step 1.1) is as follows:

in the above formula, u_diAnd u_qiDq-axis components, R, of the stator voltage of the i-th winding element, respectively_siIs the resistance of the i-th winding unit, i_diAnd i_qiDq-axis components, ψ, of the winding currents of the i-th winding element, respectively_diAnd psi_qiDq-axis components, ω, of the stator flux linkage of the i-th winding unit, respectively_eThe electrical angular velocity of the N x 3-phase permanent magnet synchronous motor is shown, and t is time.

6. The winding unit self-control method of the N x 3-phase permanent magnet synchronous motor according to claim 4, wherein the functional expression of the flux linkage equation of any ith winding unit determined in step 1.1) is as follows:

in the above formula, #_diAnd psi_qiDq-axis components, L, of the stator flux linkage of the i-th winding unit, respectively_diAnd L_qiDq-axis components, i, of inductances of i-th winding elements, respectively_diAnd i_qiDq-axis components, L, of the winding current of the i-th winding element, respectively_md(i+1)toiAnd L_mq(i+1)toiDq-axis component, L, of mutual inductance of the i +1 th and i-th winding units, respectively_md(i-1)toiAnd L_mq(i-1)toiDq-axis components, i, of mutual inductance of the i-1 th and i-th winding units, respectively_d(i+1)And i_q(i+1)Dq-axis components, i, of the winding currents of the i +1 th winding unit, respectively_d(i-1)And i_q(i-1)Dq-axis components, ψ, of winding currents of i-1 th winding elements, respectively_fIs a permanent magnet flux linkage.

7. The winding unit self-control method of the N x 3-phase permanent magnet synchronous motor according to claim 1, wherein the motor online parameter identification method adopted in the step 2) is a least square method, and an expression form of a voltage equation least square method of a three-phase permanent magnet synchronous motor model is as follows:

in the above formula, u_dAnd u_qAre respectively dq-axis components of the stator voltage, R_sResistance, i, for a model of a three-phase PMSM_dAnd i_qAre the dq-axis components, omega, of the winding current, respectively_eFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machine_fIs a permanent magnet flux linkage, L_dAnd L_qThe dq axis components of the inductance of the three-phase permanent magnet synchronous motor model are respectively, and p is a differential operator; in the expression form of the least square method of the voltage equation, an input matrixComprises the following steps:

parameter matrixComprises the following steps:

the output quantity matrix y (k) is:

and in the input matrixIn need of p is_d、pi_qCarrying out discretization treatment on the differential:

in the above formula, i_d(k) And i_q(k) Dq-axis component of winding current at time k, i_d(k-1) and i_q(k-1) is the dq-axis component of the winding current at time k-1, T_sIs the sampling time.

8. An automatic control device for winding units of an N x 3-phase permanent magnet synchronous motor is characterized by comprising the following components:

the model decoupling program unit is used for equivalently transforming and decoupling the N x 3-phase permanent magnet synchronous motor into N equivalent independent three-phase permanent magnet synchronous motor models;

the parameter identification program unit is used for obtaining the motor parameters of each three-phase permanent magnet synchronous motor model by adopting a motor online parameter identification method;

and the independent control program unit is used for automatically controlling the winding unit of the N x 3 phase permanent magnet synchronous motor according to the three-phase permanent magnet synchronous motor model and the motor parameters.

9. An N x 3 phase permanent magnet synchronous motor winding unit self-control device comprising a microprocessor and a memory connected to each other, characterized in that the microprocessor is programmed or configured to perform the steps of the N x 3 phase permanent magnet synchronous motor winding unit self-control method according to any one of claims 1 to 7.

10. A computer readable storage medium having stored thereon a computer program programmed or configured to perform a method of self-controlling winding units of an N x 3-phase permanent magnet synchronous motor according to any one of claims 1 to 7.

Technical Field

The invention relates to a control technology of an N x 3 phase permanent magnet synchronous motor, in particular to a self-control method and a self-control device of a winding unit of the N x 3 phase permanent magnet synchronous motor.

Background

Compared with a three-phase permanent magnet synchronous motor driving system, the N × 3-phase permanent magnet synchronous motor has many advantages, such as: on the occasion that the power supply voltage is limited, the N x 3 phase motor driving system is an effective way for solving low-voltage high power; the phase number of the motor is increased, the output torque pulsation is small, and the pulsation frequency is increased, so that the low-speed characteristic of a driving system is greatly improved, and the vibration and the noise are reduced; due to the phase number redundancy, the overall reliability of the system is improved. Based on the advantages of the N x 3 phase permanent magnet synchronous motor, the motor is widely applied to occasions with high power, high reliability and the like, such as ship electric propulsion, electric automobile driving, aerospace, wind power generation and the like. With the increase of the number of phases of the motor, the centralized control architecture can reduce the modularization degree of the system and the flexibility of the system configuration, and the distributed control architecture taking each three-phase winding unit as a unit is adopted, so that each stator three-phase winding can be controlled by a corresponding controller, the problems can be avoided to a certain extent, and the maintainability and the reliability of the system can be improved. However, the distributed control currently studied requires each sub-controller to exchange data in real time through a high-speed network, which also causes the system to stop operating once the high-speed network system fails. Therefore, it is very important to research the self-control method of the winding unit of the N × 3-phase permanent magnet synchronous motor.

Disclosure of Invention

The technical problems to be solved by the invention are as follows: aiming at the problems of strong coupling among three-phase winding units, complex control, incapability of being universal with a three-phase permanent magnet motor, poor portability and the like of the conventional mathematical model of multi-d-q coordinate transformation and VSD vector space decoupling transformation, the invention provides a self-control method and a device for the winding units of the N x 3-phase permanent magnet synchronous motor.

In order to solve the technical problems, the invention adopts the technical scheme that:

an N x 3 phase permanent magnet synchronous motor winding unit self-control method comprises the following steps:

1) the N x 3-phase permanent magnet synchronous motor is equivalently transformed and decoupled into N equivalent independent three-phase permanent magnet synchronous motor models;

2) obtaining motor parameters of each three-phase permanent magnet synchronous motor model by adopting a motor online parameter identification method;

3) and automatically controlling the winding unit of the N x 3-phase permanent magnet synchronous motor according to the three-phase permanent magnet synchronous motor model and the motor parameters.

Optionally, in the n equivalent independent three-phase permanent magnet synchronous motor models obtained in step 1), under the condition that the winding current is distributed evenly, an approximate function expression of any ith equivalent independent three-phase permanent magnet synchronous motor model is as follows:

in the above formula, u_diAnd u_qiDq-axis components, R, of the stator voltage of the i-th winding element, respectively_siIs the resistance of the i-th winding unit, i_diAnd i_qiDq-axis components, L, of the winding current of the i-th winding element, respectively_diAnd L_qiThe dq axis components of the inductance of the i-th winding unit are respectively, n is the number of the winding units, and L_mdAnd L_mqDq-axis components, omega, of mutual inductance of two adjacent winding elements, respectively_eFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machine_fIs a permanent magnet flux linkage.

Optionally, in the n equivalent independent three-phase permanent magnet synchronous motor models obtained in step 1), under the condition that the winding current is distributed arbitrarily, an approximate function expression of an arbitrary ith equivalent independent three-phase permanent magnet synchronous motor model is as follows:

in the above formula, u_diAnd u_qiDq-axis components, R, of the stator voltage of the i-th winding element, respectively_siIs the resistance of the i-th winding unit, i_diAnd i_qiDq-axis components, L, of the winding current of the i-th winding element, respectively_diAnd L_qiDq-axis components, L, of the inductances of the i-th winding elements, respectively_mdAnd L_mqDq-axis components, omega, of mutual inductance of two adjacent winding elements, respectively_eFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machine_fIs a permanent magnet flux linkage.

Optionally, step 1) comprises:

1.1) determining a voltage equation and a flux linkage equation of each winding unit of the N x 3-phase permanent magnet synchronous motor;

1.2) obtaining a winding equation of each winding unit by combining a voltage equation and a flux linkage equation according to the mutual inductance equality among the winding units;

1.3) simplifying winding equations of all winding units according to the current distribution condition of all winding units of the N x 3-phase permanent magnet synchronous motor, thereby obtaining N equivalent independent three-phase permanent magnet synchronous motor models.

Optionally, the function expression of the voltage equation of any ith winding unit determined in step 1.1) is as follows:

in the above formula, u_diAnd u_qiDq-axis components, R, of the stator voltage of the i-th winding element, respectively_siIs the resistance of the i-th winding unit, i_diAnd i_qiDq-axis components, ψ, of the winding currents of the i-th winding element, respectively_diAnd psi_qiDq-axis components, ω, of the stator flux linkage of the i-th winding unit, respectively_eThe electrical angular velocity of the N x 3-phase permanent magnet synchronous motor is shown, and t is time.

Optionally, the function expression of the flux linkage equation of any ith winding unit determined in step 1.1) is as follows:

in the above formula, #_diAnd psi_qiDq-axis components, L, of the stator flux linkage of the i-th winding unit, respectively_diAnd L_qiDq-axis components, i, of inductances of i-th winding elements, respectively_diAnd i_qiDq-axis components, L, of the winding current of the i-th winding element, respectively_md(i+1)toiAnd L_mq(i+1)toiDq-axis component, L, of mutual inductance of the i +1 th and i-th winding units, respectively_md(i-1)toiAnd L_mq(i-1)toiDq-axis components, i, of mutual inductance of the i-1 th and i-th winding units, respectively_d(i+1)And i_q(i+1)Dq-axis components, i, of the winding currents of the i +1 th winding unit, respectively_d(i-1)And i_q(i-1)Dq-axis components, ψ, of winding currents of i-1 th winding elements, respectively_fIs a permanent magnet flux linkage.

Optionally, the functional expression of the winding equation of each winding unit obtained in step 1.2) by combining the voltage equation and the flux linkage equation is as follows:

in the above formula, u_diAnd u_qiDq-axis components, R, of the stator voltage of the i-th winding element, respectively_siIs the resistance of the i-th winding unit, i_diAnd i_qiDq-axis components, L, of the winding current of the i-th winding element, respectively_diAnd L_qiDq-axis components, L, of the inductances of the i-th winding elements, respectively_mdAnd L_mqEach being the mutual inductance of two adjacent winding unitsComponent of dq axis, omega_eFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machine_fIs a permanent magnet flux linkage. Wherein:

the ratio of the two components is small and can be approximately ignored.

Optionally, the online parameter identification method of the motor adopted in step 2) is a least square method, and an expression form of a least square method of a voltage equation of the three-phase permanent magnet synchronous motor model is as follows:

in the above formula, u_dAnd u_qAre respectively dq-axis components of the stator voltage, R_sResistance, i, for a model of a three-phase PMSM_dAnd i_qAre the dq-axis components, omega, of the winding current, respectively_eFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machine_fIs a permanent magnet flux linkage, L_dAnd L_qThe dq axis components of the inductance of the three-phase permanent magnet synchronous motor model are respectively, and p is a differential operator; in the expression form of the least square method of the voltage equation, an input matrixComprises the following steps:

parameter matrixComprises the following steps:

the output quantity matrix y (k) is:

and in the input matrixIn need of p is_d、pi_qCarrying out discretization treatment on the differential:

in the above formula, i_d(k) And i_q(k) Dq-axis component of winding current at time k, i_d(k-1) and i_q(k-1) is the dq-axis component of the winding current at time k-1, T_sIs the sampling time.

In addition, the invention also provides an N x 3 phase permanent magnet synchronous motor winding unit self-control device, which comprises:

the model decoupling program unit is used for equivalently transforming and decoupling the N x 3-phase permanent magnet synchronous motor into N equivalent independent three-phase permanent magnet synchronous motor models;

the parameter identification program unit is used for obtaining the motor parameters of each three-phase permanent magnet synchronous motor model by adopting a motor online parameter identification method;

and the independent control program unit is used for automatically controlling the winding unit of the N x 3 phase permanent magnet synchronous motor according to the three-phase permanent magnet synchronous motor model and the motor parameters.

In addition, the invention also provides an N x 3 phase permanent magnet synchronous motor winding unit self-control device which comprises a microprocessor and a memory which are connected with each other, wherein the microprocessor is programmed or configured to execute the steps of the N x 3 phase permanent magnet synchronous motor winding unit self-control method.

In addition, the present invention also provides a computer readable storage medium having stored therein a computer program programmed or configured to execute the self-control method of the winding unit of the N x 3-phase permanent magnet synchronous motor.

Compared with the prior art, the invention has the following advantages:

1. aiming at the problems of strong coupling among three-phase winding units, complex control, incapability of being universal with a three-phase permanent magnet motor, poor portability and the like of the conventional mathematical model with multi-d-q coordinate transformation and VSD vector space decoupling transformation, the invention decouples the N x 3 phase permanent magnet synchronous motor into N equivalent independent three-phase permanent magnet synchronous motor models; obtaining motor parameters of each three-phase permanent magnet synchronous motor model by adopting a motor online parameter identification method; and automatically controlling the winding unit of the N x 3-phase permanent magnet synchronous motor according to the three-phase permanent magnet synchronous motor model and the motor parameters. The invention does not need real-time data communication among the control units, can continue to use the three-phase permanent magnet motor control algorithm, has strong expansibility and can realize completely independent control on each three-phase winding unit.

2. The invention adopts distributed decoupling control of the N x 3-phase permanent magnet synchronous motor, which is different from a mathematical model of multi-d-q coordinate transformation and vector space decoupling transformation, the transformed motor model does not need to exchange current among windings for control, each independent motor three-phase winding is completely identical with the three-phase permanent magnet synchronous motor for control, the N x 3-phase permanent magnet synchronous motor transformed by the model does not need real-time data communication among control units, a three-phase permanent magnet motor control algorithm can be used, the expansibility is strong, the complete independent control of each three-phase winding unit can be realized, and the application of the N x 3-phase permanent magnet synchronous motor has practical value.

Drawings

FIG. 1 is a schematic diagram of a basic flow of a method according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of a control module of the N × 3-phase permanent magnet synchronous motor in the method according to the embodiment of the present invention.

Detailed Description

As shown in fig. 1, the self-control method of the winding unit of the N × 3-phase permanent magnet synchronous motor in the present embodiment includes:

1) the N x 3-phase permanent magnet synchronous motor is equivalently transformed and decoupled into N equivalent independent three-phase permanent magnet synchronous motor models;

2) obtaining motor parameters of each three-phase permanent magnet synchronous motor model by adopting a motor online parameter identification method;

3) and automatically controlling the winding unit of the N x 3-phase permanent magnet synchronous motor according to the three-phase permanent magnet synchronous motor model and the motor parameters.

In this embodiment, in the n equivalent independent three-phase permanent magnet synchronous motor models obtained in step 1), under the condition that the winding current is distributed evenly, an approximate function expression of any ith equivalent independent three-phase permanent magnet synchronous motor model is as follows:

in the above formula, u_diAnd u_qiDq-axis components, R, of the stator voltage of the i-th winding element, respectively_siIs the resistance of the i-th winding unit, i_diAnd i_qiDq-axis components, L, of the winding current of the i-th winding element, respectively_diAnd L_qiThe dq axis components of the inductance of the i-th winding unit are respectively, n is the number of the winding units, and L_mdAnd L_mqDq-axis components, omega, of mutual inductance of two adjacent winding elements, respectively_eFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machine_fIs a permanent magnet flux linkage, i ═ 1, 2.

In this embodiment, in the n equivalent independent three-phase permanent magnet synchronous motor models obtained in step 1), under the condition that the winding current is distributed arbitrarily, the approximate function expression of an arbitrary ith equivalent independent three-phase permanent magnet synchronous motor model is as follows:

in the above formula, u_diAnd u_qiDq-axis components, R, of the stator voltage of the i-th winding element, respectively_siIs the resistance of the i-th winding unit, i_diAnd i_qiDq-axis components, L, of the winding current of the i-th winding element, respectively_diAnd L_qiAre respectively the ith winding unitD-axis component of the inductance of (1), L_mdAnd L_mqDq-axis components, omega, of mutual inductance of two adjacent winding elements, respectively_eFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machine_fIs a permanent magnet flux linkage.

In this embodiment, the N × 3-phase permanent magnet synchronous motor includes N winding units in total, and the functional expressions of the voltage equations of the 1 st to N winding units (i ═ 1, 2.. multidot., N, the same applies below) are respectively:

…

the function expression of any ith equivalent independent three-phase permanent magnet synchronous motor model in the n equivalent independent three-phase permanent magnet synchronous motor models can be equivalent to:

…

in the above formula, R_s1 ^*～R_sn ^*Stator resistances, L, of the 1 st to n th windings, respectively_d1 ^*～L_dn ^*Respectively representD-axis inductance of 1-n sets of windings, L_q1 ^*～L_qn ^*Q-axis inductances of the 1 st to n-th sets of windings are shown, respectively.

As shown in fig. 2, on the basis of obtaining a model and motor parameters of a three-phase permanent magnet synchronous motor, a controller 1 to a controller N respectively control corresponding drivers 1 to N to perform distributed control on corresponding winding units in an N × 3-phase permanent magnet synchronous motor (N × 3PMSM), the control method is a control method of a conventional three-phase permanent magnet motor, and the closed-loop feedback amount includes: three-phase current i of winding unit_ai，i_bi，i_ciElectric angular velocity ω of N x 3-phase permanent magnet synchronous motor_ePhase θ of winding unit_eiThe output control quantity is three-phase voltage V_ai，V_bi，V_ci1, 2.., n. Each winding unit of the N-by-3 phase permanent magnet synchronous motor is independently controlled and is provided with an independent controller and a driver.

In this embodiment, step 1) includes:

1.1) determining a voltage equation and a flux linkage equation of each winding unit of the N x 3-phase permanent magnet synchronous motor;

1.2) obtaining a winding equation of each winding unit by combining a voltage equation and a flux linkage equation according to the mutual inductance equality among the winding units;

1.3) simplifying winding equations of all winding units according to the current distribution condition of all winding units of the N x 3-phase permanent magnet synchronous motor, thereby obtaining N equivalent independent three-phase permanent magnet synchronous motor models.

In this embodiment, the function expression of the voltage equation of any ith winding unit determined in step 1.1) is as follows:

in the above formula, u_diAnd u_qiDq-axis components, R, of the stator voltage of the i-th winding element, respectively_siIs the resistance of the i-th winding unit, i_diAnd i_qiDq-axis components of the winding currents of the i-th winding unit, respectively，ψ_diAnd psi_qiDq-axis components, ω, of the stator flux linkage of the i-th winding unit, respectively_eThe electrical angular velocity of the N x 3-phase permanent magnet synchronous motor is shown, and t is time.

In this embodiment, the N × 3-phase permanent magnet synchronous motor includes N winding units in total, and the functional expressions of the voltage equations of the 1 st to N winding units are respectively:

…

wherein, ω is_eIs the electrical angular velocity of the motor u_d1、u_q1、u_d2、u_q2...u_dn、u_qnFor the stator voltage of each set of winding units, i_d1、i_q1、i_d2、i_q2...i_dn、i_qnStator currents for sets of winding elements, psi_d1、ψ_q1、ψ_d2、ψ_q2...ψ_dn、ψ_qnIs the stator flux linkage of each set of winding units.

In this embodiment, the function expression of the flux linkage equation of any ith winding unit determined in step 1.1) is:

in the above formula, #_diAnd psi_qiDq-axis components, L, of the stator flux linkage of the i-th winding unit, respectively_diAnd L_qiDq-axis components, i, of inductances of i-th winding elements, respectively_diAnd i_qiAre respectively provided withIs the dq-axis component, L, of the winding current of the i-th winding element_md(i+1)toiAnd L_mq(i+1)toiDq-axis component, L, of mutual inductance of the i +1 th and i-th winding units, respectively_md(i-1)toiAnd L_mq(i-1)toiDq-axis components, i, of mutual inductance of the i-1 th and i-th winding units, respectively_d(i+1)And i_q(i+1)Dq-axis components, i, of the winding currents of the i +1 th winding unit, respectively_d(i-1)And i_q(i-1)Dq-axis components, ψ, of winding currents of i-1 th winding elements, respectively_fIs a permanent magnet flux linkage.

In this embodiment, the N × 3-phase permanent magnet synchronous motor includes N winding units in total, and the functional expressions of the flux linkage equations of the 1 st to N winding units are respectively:

…

wherein L is_d1、L_q1、L_d2、L_q2...L_dn、L_qnDq-axis inductance, L, for each set of windings_md1to2、L_mq1to2、L_md2to1、L_mq2to1、L_md3to2、L_mq3to2...L_mdnto1、L_mqnto1、L_mdnto2、L_mqnto2、L_md1ton、L_mq1ton、L_md(n-1)ton、L_mq(n-1)tonFor mutual inductance between d-and q-axes of the wound windings,. psi_fIs a permanent magnet flux linkage. It should be noted that, in this embodiment, the N × 3-phase permanent magnet synchronous motor totally includes N winding units, and the i-1 th winding unit, the i-th winding unit, and the i +1 th winding unit refer to phasesThree adjacent winding units, wherein when i is equal to 1, i-1 is n, and i +1 is 2 at the boundary, because the winding units are arranged in a ring shape; when i ═ n, i-1 is n-1 and i +1 is 1.

Combining the voltage equation and the flux linkage equation, and L_md1to2＝L_md2to1＝...＝L_md1ton＝L_mdnto1＝L_md，L_mq1to2＝L_mq2to1＝...＝L_mq1ton＝L_mqnto1＝L_mqThe functional expression of the winding equation of each winding unit obtained by combining the voltage equation and the flux linkage equation in step 1.2) of this embodiment is:

in the above formula, u_diAnd u_qiDq-axis components, R, of the stator voltage of the i-th winding element, respectively_siIs the resistance of the i-th winding unit, i_diAnd i_qiDq-axis components, L, of the winding current of the i-th winding element, respectively_diAnd L_qiDq-axis components, L, of the inductances of the i-th winding elements, respectively_mdAnd L_mqDq-axis components, omega, of mutual inductance of two adjacent winding elements, respectively_eFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machine_fIs a permanent magnet flux linkage. Wherein:

on the basis, step 1.3) simplifies the winding equations of all the winding units according to the current distribution condition of all the winding units of the N x 3-phase permanent magnet synchronous motor, so that N equivalent independent three-phase permanent magnet synchronous motor models are obtained. Namely:

under the condition that the winding current is distributed evenly, the approximate function expression of any ith equivalent independent three-phase permanent magnet synchronous motor model is as follows:

in the above formula, u_diAnd u_qiDq-axis components, R, of the stator voltage of the i-th winding element, respectively_siIs the resistance of the i-th winding unit, i_diAnd i_qiDq-axis components, L, of the winding current of the i-th winding element, respectively_diAnd L_qiThe dq axis components of the inductance of the i-th winding unit are respectively, n is the number of the winding units, and L_mdAnd L_mqDq-axis components, omega, of mutual inductance of two adjacent winding elements, respectively_eFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machine_fIs a permanent magnet flux linkage, i ═ 1, 2.

Under the condition that the winding current is distributed randomly, the approximate function expression of any ith equivalent independent three-phase permanent magnet synchronous motor model is as follows:

in the above formula, u_diAnd u_qiDq-axis components, R, of the stator voltage of the i-th winding element, respectively_siIs the resistance of the i-th winding unit, i_diAnd i_qiDq-axis components, L, of the winding current of the i-th winding element, respectively_diAnd L_qiDq-axis components, L, of the inductances of the i-th winding elements, respectively_mdAnd L_mqDq-axis components, omega, of mutual inductance of two adjacent winding elements, respectively_eFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machine_fIs a permanent magnet flux linkage.

The motor online parameter identification method adopted in the step 2) can adopt a least square method, a model reference adaptive method, a Kalman filtering algorithm, an artificial intelligence algorithm and the like according to needs, and the obtained motor parameter of each three-phase permanent magnet synchronous motor model refers to the dq axis component L of the inductance of the three-phase permanent magnet synchronous motor model_dAnd L_q。

As an optional implementation manner, the motor online parameter identification method adopted in step 2) of this embodiment is a least square method, and an expression form of a voltage equation least square method of a three-phase permanent magnet synchronous motor model is as follows:

in the above formula, u_dAnd u_qAre respectively dq-axis components of the stator voltage, R_sResistance, i, for a model of a three-phase PMSM_dAnd i_qAre the dq-axis components, omega, of the winding current, respectively_eFor the electrical angular velocity, psi, of an N x 3-phase permanent-magnet synchronous machine_fIs a permanent magnet flux linkage, L_dAnd L_qThe dq axis components of the inductance of the three-phase permanent magnet synchronous motor model are respectively, and p is a differential operator; in the expression form of the least square method of the voltage equation, an input matrixComprises the following steps:

parameter matrixComprises the following steps:

the output quantity matrix y (k) is:

and in the input matrixIn need of p is_d、pi_qCarrying out discretization treatment on the differential:

in the above formula, i_d(k) And i_q(k) Dq-axis component of winding current at time k, i_d(k-1) and i_q(k-1) is the dq-axis component of the winding current at time k-1, T_sIs the sampling time.

In summary, aiming at the problems of strong coupling between three-phase winding units, complex control, incapability of being universal with a three-phase permanent magnet motor, poor portability and the like of the existing mathematical model of multi-d-q coordinate transformation and VSD vector space decoupling transformation, the embodiment method decouples the N x 3-phase permanent magnet synchronous motor into N equivalent independent three-phase permanent magnet synchronous motor units for control by a model equivalent transformation method, and obtains the equivalent motor parameter value of each decoupled three-phase permanent magnet synchronous motor unit by an online parameter identification inductance parameter method, thereby completing complete decoupling control of the N x 3-phase permanent magnet synchronous motor. After complete decoupling, a control method of a standard three-phase motor can be adopted, real-time data communication among control units is not needed, a three-phase permanent magnet motor control algorithm can be used continuously, expansibility is strong, and each three-phase winding unit can be controlled completely and independently.

In addition, this embodiment also provides an N × 3 phase permanent magnet synchronous motor winding unit self-control device, including:

the model decoupling program unit is used for equivalently transforming and decoupling the N x 3-phase permanent magnet synchronous motor into N equivalent independent three-phase permanent magnet synchronous motor models;

the parameter identification program unit is used for obtaining the motor parameters of each three-phase permanent magnet synchronous motor model by adopting a motor online parameter identification method;

and the independent control program unit is used for automatically controlling the winding unit of the N x 3 phase permanent magnet synchronous motor according to the three-phase permanent magnet synchronous motor model and the motor parameters.

In addition, the present embodiment further provides an N × 3 phase permanent magnet synchronous motor winding unit self-control device, including a microprocessor and a memory connected to each other, where the microprocessor is programmed or configured to execute the steps of the aforementioned N × 3 phase permanent magnet synchronous motor winding unit self-control method.

In addition, the present embodiment also provides a computer-readable storage medium, in which a computer program programmed or configured to execute the aforementioned self-control method for the winding unit of the N × 3-phase permanent magnet synchronous motor is stored.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein. The present application is directed to methods, apparatus (systems), and computer program products according to embodiments of the application wherein instructions, which execute via a flowchart and/or a processor of the computer program product, create means for implementing functions specified in the flowchart and/or block diagram block or blocks. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.