永磁同步电机以其结构简单、体积小、功率密度高等优点，被广泛应用在工业、新能源汽车和航空航天等领域。效率是衡量电机控制系统性能的一个重要指标，可以通过电机本体设计技术，控制技术进行提升。基于铁损电阻的最小损耗控制是针对总效率最大化的控制策略，适用于动态场合。但是电机电磁参数会随着实际运行工况发生变化，导致设计的控制器参数与实际参数不匹配，影响了电机高效控制性能。因此，改进电机控制算法跟踪电机模型参数，是提升该策略控制性能的关键。

本文以永磁同步电机基于铁损电阻的最小损耗控制策略为主要研究内容。首先，分析了永磁同步电机运行过程中损耗产生的机理。考虑铁损因素，建立了永磁同步电机在两相旋转坐标系下的数学模型。在MATLAB/Simulink环境下搭建对应的仿真模型。其次，推导了基于损耗最小值的定子d轴电流表达式，并针对传统算法未考虑电机参数随运行工况变化的不足，设计了双卡尔曼滤波器对影响电机损耗的电流分量、电阻、电感、磁链等参数进行实时观测和辨识。进而，通过仿真对所提最小损耗控制策略进行验证。仿真结果表明，所提改进算法能够有效辨识电机参数，并保证最小损耗的控制性能。

本文设计了永磁同步电机控制系统，通过与传统算法的对比实验，进一步验证所提算法的有效性。实验结果表明，本文设计的基于双卡尔曼滤波器的最小损耗控制方法具有较好的动态性能，能够在保证转矩输出的前提下有效减少电机运行过程中产生的损耗，相对传统控制策略输出效率可提升最高2%。

Permanent magnet synchronous motor (PMSM) is widely used in industry, new energy vehicles, aerospace engineering and other fields because of its simple structure, small size and high power density. Efficiency is an important index to measure the performance of motor control system, which can be improved by motor design technology and control technology. The loss minimization control (LMC) based on the loss model is a control strategy for maximizing the total efficiency, which applies to dynamic situations. However, the electromagnetic parameters of the motor will change with the operating conditions, resulting in the mismatch between the designed controller parameters and the actual parameters, which affects the efficient performance of the motor control. Therefore, improving the motor control algorithm to track motor parameters is the key to improve the control performance of the strategy.

This paper focuses on the loss minimization control strategy of permanent magnet synchronous motor based on core loss resistance. Firstly, the loss mechanism of PMSM is analyzed. Considering the core loss, the mathematical model of PMSM in two-phase rotating coordinate system is established. The simulation model is built in Matlab/Simulink environment. Secondly, the expression of stator d-axis current in the case of minimum loss is derived. To deal with the shortcoming that the traditional algorithm does not consider the variation of motor parameters with operating conditions, a double Kalman filter is designed to observe and identify the current component, resistance, inductance, flux and other parameters that affect the motor loss in real time. Furthermore, the proposed loss minimization control strategy is verified by simulation. The simulation results show that the improved algorithm can effectively identify the motor parameters and ensure the control performance of minimum loss.

In this paper, a permanent magnet synchronous motor control system is designed. The effectiveness of the proposed algorithm is further verified by comparing with the traditional algorithm. The experimental results show that the loss minimization control method based on double Kalman filter has good dynamic performance, which can effectively reduce the loss in the process of motor operation under ensuring the torque output. The efficiency can be improved by up to 2% compared with the traditional control strategy.

[1] 揭丁爽，黄苏融,等．计及高次谐波影响的高密度永磁同步电机铁耗计算[J]．电机控制与应用, 2019, 46(4): 71-76.

[2] 符致昭．大型矿用永磁直驱电机设计及铁损分析[J]．防爆电机, 2019, 2(54):16-18.

[3] 骆超，马伟斌，赵军．电机系统能耗影响因素模型评价与分析[J]．电机控制与应用，2016, 43(8): 98-103.

[4] 刘毓希，李立毅，曹继伟，等．短时高过载永磁同步电机电磁热研究[J]．电工技术学报, 2019, 34(11): 2296-2305.

[5] 宋凌锋．电动车最大效率节能控制技术的研究[J].节能技术,1999,17(3),7-9.

[6] 李佳宣．不同类型负荷下变频电机系统能耗特性研究[D]．北京:华北电力大学(北京),2017.

[7] 胡余生，曾学英，陈彬．热配合下永磁同步电机的铁损分析及优化[J]．微电机,2016, 49(12): 21-29.

[8] Shen Jianxin, Li Peng, Hao He, et al. Study on electromagnetic losses in high-speed permanent magnet brushless machines-the state of the art[J]．Proceedings of the CSEE, 2013, 33(3): 62-74．

[9] 刑绍邦，罗印升，宋伟，等．永磁同步电机效率改善策略比较研究[J]．电气传动,2012, 42(4) :42-46.

[10] 吴钦木，韦书龙，李捍东，等．永磁同步电机驱动系统效率优化控制参数变化影响研究[J].电机与控制应用, 2012, 39(6): 18-23．

[11] 秦凯.永磁同步电机能效最优控制策略研究[D]．武汉:武汉理工大学,2018.

[12] 徐淑芬.电动汽车用永磁同步电机效率优化策略研究[D]．西安:长安大学,2014.

[13] Vaez S，John VI， Rahman MA． An on-line loss minimization controller for interior permanent magnet motor drives[J]．IEEE Transactions on Energy Conversion．1999，14(4):1435-1440．

[14] Uddin M N, Nam S W. New online loss-minimization-based control of an induction motor drive[J]. IEEE transactions on Power Electronics, 2008, 23(2): 926-933.

[15] 何光东．交流伺服控制技术研究[D]．浙江:浙江大学, 1998.

[16] 曹先庆．一种快速的永磁同步电动机效率优化方案[J]．微电机,2013 46(10),69-73.

[17] 崔皆凡，李林，单宝钰．永磁同步电机驱动系统最小损耗分析[J]. 沈阳工业大学学报, 2012,34(4): 373-376．

[18] 靳保龙．永磁同步电机节能控制系统研究[D]．无锡:江南大学,2017.

[19] Senjyu T. Vector control of synchronous permanent magnet motors including stator iron loss[C]. Proceedings of 1995 International Conference on Power Electronics and Drive Systems, 1995, 1: 309-314.

[20] Yamamoto, Shu, et al. Universal Sensorless Vector Control of Induction and Permanent-Magnet Synchronous Motors Considering Equivalent Iron Loss Resistance[J]. IEEE Transactions on Industry Applications, 2015, 51(2): 1259-1267.

[21] 宋聚明，苏彦民．基于精确建模下的永磁同步电动机(PMSM)最佳效率控制研究[J]．电工电能新技术, 2004, 23(2):22-25.

[22] 崔培良，赵克友．面装永磁同步电机最小损耗的速度控制[J]．控制与应用技术, 2006, 11:35-38.

[23] Ni Ronggang. Maximum Efficiency Per Ampere Control of Permanent-Magnet Synchronous Machines[J]. IEEE Transactions on industrial Electronics, 2015, 62 (4): 2135-2143.

[24] 吴晓鹏．车用表贴式永磁同步电机全域损耗高效计算方法研究[D]．北京：北京理工大学，2016.

[25] 杨立永，陈旭，王润博．新型PMSM最小功率损失控制及铁损电阻辨识方法[J]．电气传动,2013,43(12):3-6.

[26] Z. Biel, J. Vittek and M. Hrkel, Permanent magnet synchronous motor loss minimization control strategies[C], 2012 ELEKTRO, Rajeck Teplice, 2012, 165-169.

[27] Frias A, Kedous - Lebouc A, Chillet C, et al．Loss minimization of an electrical vehicle machine considering its control and iron losses[J]． IEEE Transactions on Magnetics，2016，52(5)：8102904．

[28] Xu Wei，Lorenz RD．Dynamic loss minimization using improved deadbeat-direct torque and flux control for interior permanent-magnet synchronous machines[J]．IEEE Transactions on Industry Applications，2014，50(2)：1053-1065．

[29] Lee J S，Lorenz R D，Valenzuela M A．Time-optimal and loss-minimizing deadbeat-direct torque and flux control for interior permanent-magnet synchronous machines[J]．IEEE Transactions on Industry Applications，2014，50(3)：1880-1890.

[30] 许峻峰，冯江华，许建平．考虑损耗模型永磁同步电机直接转矩控制[J]．电力电子技术, 2005, 39(2),24-28.

[31] 王晓磊，赵克友．永磁同步电机最小损耗的直接转矩控制[J]．电机与控制学报，2007,11(2), 331-334.

[32] 程辉，杨克立．基于自适应磁链观测器的永磁同步电机最小损耗控制策略[J]．河南工程学院学报, 2017, 29(2): 36-39.

[33] 李帆．永磁同步电机最小损耗预测电流控制[D]．天津:天津大学, 2017.

[34] RAMAKRISHNAN R，ISLAM R，ISLAM M，et al． Real time estimation of parameters for controlling and monitoring permanent magnet synchronous motors[C]. IEEE International Electric Machines and Drives Conference, 2009:1194-1199．

[35] 李景灿，廖勇．考虑饱和及转子磁场谐波的永磁同步电机模型[J]．中国电机工程学报, 2011, 30(3):60-66

[36] 刘娜．永磁同步电机参数辨识系统研究[D]．西安科技大学,2019.

[37] 张德金．永磁同步高速大功率电机电磁特性及效率优化研究[D]．长沙:湖南大学,2016．

[38] Kim H, Hartwig J, Lorenz R D. Using on-line parameter estimation to improve efficiency of IPM machine drives[C]. Power Electronics Specialists Conference, 2002 IEEE 33rd Annual. IEEE, 2002:815-820 vol.2.

[39] Inoue Y, Kawaguchi Y, Morimoto S, et al. Performance Improvement of Sensorless IPMSM Drives in a Low-Speed Region Using Online Parameter Identification[J]. IEEE Transactions on Industry Applications, 2011, 47(2):798-804.

[40] 陈梓怀．电动汽车用内置式永磁同步电机效率优化控制策略研究[D]．武汉:华中科技大学,2016.

[41] 谭海波．基于模型参考自适应的永磁同步电机在线效率最优控制的研究[D]．长沙:湖南大学,2016.

[42] 徐书凯，胡勤丰，王大伟．基于卡尔曼观测器的永磁同步电机自抗扰控制[J]．电机与控制应用,2010,37(05):27-31.

[43] 姜晓亮．基于扩展卡尔曼滤波器的交流永磁同步电机参数辨识[D]．南京师范大学，2011.

[44] 林海．永磁同步电机双扩展卡尔曼滤波转速观测器设计[C]．第三十二届中国控制会议论文集（B卷）. 2013:89-94.

[45] 周晓华，蓝会立，王晨，等．永磁同步电机矢量控制系统仿真实验设计[J]．实验技术与管理,2020,37(1):126-131.

[46] 徐艳平，钟彦儒．永磁同步电机最小损耗控制的仿真研究[J]．系统仿真学报，2007，19( 22) : 5283－5286．