A current source inverter high-speed permanent magnet synchronous motor control method and system based on LADRC

Abstract

The application discloses a current source inverter high-speed permanent magnet synchronous motor control method and system based on LADRC, and the system part comprises a position estimation module, a rotating speed regulator, a current sensor, a voltage sensor, a coordinate transformation matrix, a current regulator, a current generation module and a space vector pulse width modulation module; the control method part calculates an inverter current reference value through design of a second-order LADRC current regulator, realizes d-q axis decoupling in the regulator, improves the dynamic performance of the current source inverter, effectively reduces current harmonics, and improves the anti-interference ability and robustness of the system. The application can not only solve the system instability problem caused by high control order and serious coupling of the motor under high-speed working conditions, improve the robustness and dynamic performance of the system, but also solve the problems of high cost and low reliability of the traditional position sensor under high-speed operation, reduce the hardware cost of the system, and speed up the response speed. The application relates to motor control technology.

Description

TECHNICAL FIELD

[0001] The application relates to motor control technology, and in particular to a current source inverter high-speed permanent magnet synchronous motor control method and system based on LADRC (linear active disturbance rejection control). BACKGROUND

[0002] High-speed permanent magnet motors have advantages of high power density, small volume and mass, and are widely used in the fields of aerospace, flywheel energy storage, high-speed spindles and the like. The current source inverter can well inhibit the problem of large output current ripple, reduce torque ripple, and thus reduce motor rotor loss and motor heating. However, in the current source inverter high-speed motor driving system, the following problems exist: on the one hand, the order of the control object of the system changes from one order to two orders, the motor and the capacitor will produce coupling phenomena, and the coupling will be further intensified at high speed, which endangers the normal operation of the motor, in addition, the application of a large number of energy storage elements also deteriorates the dynamic performance of the system; on the other hand, high speed increases the influence of numerical control system discrete error and control delay, reduces the control accuracy of the system, and the position sensor suitable for high-speed permanent magnet motors has the problems of high cost and poor reliability. It is necessary to solve the above problems of the current source inverter system for the application of high-speed permanent magnet synchronous motors.

[0003] The current research direction for improving the control performance of the current source inverter high-speed motor driving system includes adopting new wide bandgap devices, new circuit topologies and high-performance control algorithms. SUMMARY

[0004] The application is proposed to solve the problems in the prior art, and a current source inverter high-speed permanent magnet synchronous motor control system and method based on LADRC are further proposed.

[0005] The technical scheme adopted by the application to solve the above problems is as follows:

[0006] The current source inverter high-speed permanent magnet synchronous motor control method based on LADRC comprises the following steps:

[0007] Step 1, sampling three-phase currents and voltages of the motor stator, and performing coordinate transformation on the sampling signals according to current position information to obtain motor cross-axis and direct-axis current feedback and cross-axis and direct-axis voltage feedback;

[0008] Step 2, inputting ω and i sd The coupling effect of the q-axis current loop is taken as the disturbance of the q-axis current loop, and the cross-axis voltage and current u sq and i sq are input, and the real-time rotor position angle and speed are estimated after processing by the LADRC-based positionless algorithm;

[0009] Step 3: Input the difference between the real-time speed ω and the given speed ω* into the speed regulator to obtain the reference value of the motor's quadrature-axis current;

[0010] Step 4: Feedback quantity i of quadrature axis current sq With cross-axis current reference value i sq * Input the q-axis second-order LADRC current regulator to obtain the quadrature-axis current reference value of the filter capacitor, and input the direct-axis current feedback value i. sd With direct-axis voltage reference value i sd * =0 input d-axis second-order LADRC current regulator to obtain the direct-axis current reference value of the filter capacitor;

[0011] Step 5: Add the AC and DC axis current reference values ​​of the filter capacitor to the AC and DC axis current feedback values ​​of the motor respectively to obtain the AC and DC axis current reference values ​​of the inverter, and then use Park inverse transformation to obtain the amplitude and phase of the current required to modulate the inverter.

[0012] Step 6: Based on the amplitude and phase of the current required by the inverter and the estimated angle information, and combined with space vector pulse width modulation technology, a switching signal is obtained to drive and adjust the amplitude and phase of the inverter current.

[0013] Step 7: Repeat steps 1 to 6 to achieve real-time inverter current amplitude and phase adjustment tracking, as well as rapid speed adjustment.

[0014] Furthermore, the positionless algorithm described in step 2 estimates the position information of the motor rotor, including the following:

[0015] The mathematical model of the permanent magnet synchronous motor along the q-axis in the synchronous rotating coordinate system is as follows:

[0016]

[0017] In the formula: u sq i is the q-axis voltage of the stator winding; sd i sq L is the dq-axis current of the electronic winding; q R is the q-axis inductance of the stator winding; s Stator resistance; ψ f The magnetomotive force generated by the rotor permanent magnet;

[0018] Therefore, a sensorless algorithm based on LADRC can be designed to combine ω and i. d Coupling effect on the q-axis current loop The disturbance w(t) of the q-axis current loop is observed by LESO.

[0019]

[0020] The LESO observation disturbance quantity can be designed as:

[0021]

[0022] In the control strategy of i d = 0,

[0023] The z 11 of the second-order linear extended state observer is the real-time observation of i sq , and z 12 is the real-time observation of the disturbance w(t), denoted as When , the motor speed ω can be accurately estimated, and then the speed is integrated to obtain the motor rotor position θ.

[0024] The estimated speed is:

[0025] The estimated rotor position is:

[0026] Through the above algorithm, the real-time speed and position angle information of the motor can be estimated relatively simply.

[0027] Further, the speed regulator in step 3 is a PI regulator, and its transfer function is:

[0028]

[0029] In the formula, k p is a proportional gain coefficient, and k i is an integral gain coefficient.

[0030] Further, the d-q axis second-order LADRC current regulator in step 4 is designed as follows:

[0031] The motor stator voltage equation is:

[0032]

[0033] In the rotating d-q axis coordinate system, the bridge arm current equation of the current source inverter is:

[0034]

[0035]

[0036] In the formula, u sd and u sq represent the d-q axis components of the alternating filter capacitor voltage; i sd and i sq represent the d-q axis components of the motor stator current; icd cq wd wq f d q d q

[0037] Further, the d-q axis second-order LADRC current regulator in step four is designed as follows:

[0038] The motor stator voltage equation is:

[0039]

[0040] In the rotating d-q axis coordinate system, the bridge arm current equation of the current source inverter is:

[0041]

[0042]

[0043] sd sq sd sq cd cq wd wq f d q d q

[0044] Further, z1 can be the tracking signal of i sdq , z2 can be the tracking signal of u sdq , and z3 can be the tracking signal of the unknown disturbance in the d-q axis, and the second-order d-q axis LADRC regulator is designed as:

[0045] ​​​​​​​​​​​​​​​​​​​​​​​The regulator is composed of LESO (linear extended state observer) and LESF (linear error feedback control law). The LESO part of d-axis LADRC is designed as follows:

[0046]

[0047] The LESO part of q-axis LADRC is designed as follows:

[0048]

[0049] Wherein, β1, β2, β3 are LESO gains.

[0050] The LESF part of d-q axis LADRC is designed as follows:

[0051]

[0052] Wherein, k p , k d , b0 are LESF parameters.

[0053] The estimated capacitor current reference value is added to the sampled motor stator current to obtain the estimated value of inverter input current i wdq .

[0054] The LADRC-based current source inverter high-speed permanent magnet synchronous motor control system provided by the application comprises,

[0055] A position estimation module, which inputs q-axis voltage and current, and then estimates motor speed and position angle signals through LADRC algorithm;

[0056] A speed regulator, which is used for regulating the difference between real-time speed and given speed to obtain motor cross-axis current reference value;

[0057] A current sensor, which is used for sampling three-phase current of the motor stator;

[0058] A voltage sensor, which is used for sampling three-phase voltage of the motor stator;

[0059] A coordinate transformation matrix, which is used for coordinate transformation of the current sensor sampling signal according to current position information to obtain motor cross-axis current feedback and direct-axis current feedback, and is also used for coordinate transformation of the voltage sensor sampling signal according to current position information to obtain motor cross-axis voltage feedback and direct-axis voltage feedback;

[0060] The current regulator adopts a second-order LADRC algorithm, is used for adjusting to obtain a cross-axis filter capacitor current reference value according to a difference between a motor cross-axis current feedback and a cross-axis current reference value and other known quantities, and is used for adjusting to obtain a direct-axis filter capacitor current reference value according to a difference between a motor direct-axis current feedback and a zero reference current;

[0061] The current generation module is used for adding the filter capacitor cross-axis and direct-axis current reference values to the motor cross-axis and direct-axis current feedbacks respectively to obtain the inverter cross-axis and direct-axis current reference values, and obtaining the amplitude and phase of the current required by the inverter through Park inverse transformation;

[0062] The space vector pulse width modulation module is used for obtaining a switching signal according to the amplitude and phase of the current required by the inverter and current position information, and driving the amplitude and phase of the inverter current by combining the space vector pulse width modulation technology.

[0063] The present application has the following advantages:

[0064] 1. The present application is different from the traditional control strategy, which has the problems of control delay and low reliability when the position sensor is used in high-speed motor operation. The speed and position angle of the motor are estimated by the LADRC position estimation algorithm, which greatly reduces the hardware cost and speeds up the calculation speed.

[0065] 2. The method of the present application is different from the traditional multi-closed loop control strategy, which controls the stator current and capacitor voltage of the high-speed permanent magnet synchronous motor by a PI regulator and a P regulator. A second-order LADRC current regulator is designed to calculate the inverter current reference value, and the d-q axis decoupling is realized in the regulator, which improves the dynamic performance of the current source inverter, effectively reduces the current harmonics, and improves the disturbance rejection ability and robustness of the system.

[0066] 3. The present application not only solves the system instability problem caused by high control order and serious coupling of the motor in high-speed operation, improves the robustness and dynamic performance of the system, but also solves the problems of high cost and low reliability of the traditional position sensor in high-speed operation, reduces the hardware cost of the system, and speeds up the response speed. BRIEF DESCRIPTION OF DRAWINGS

[0067] Figure 1 is a flowchart of the high-speed motor current source inverter control method provided by the present application;

[0068] Figure 2 is a position sensorless algorithm structure diagram based on LADRC;

[0069] Figure 3 is a second-order LADRC current regulator structure diagram taking the d-axis as an example;

[0070] Figure 4 is the steady-state operation, the high-speed permanent magnet synchronous motor three-phase current waveform diagram;

[0071] Figure 5 High-speed permanent magnet synchronous motor estimated and actual speed waveform diagram;

[0072] Figure 6 is the position angle estimation diagram of the positionless algorithm. DETAILED DESCRIPTION

[0073] Specific implementation one: a current source inverter high-speed permanent magnet synchronous motor control method based on LADRC is described in the embodiment, as shown in the figure, including the following steps: Figure 1

[0074] Step 1, sampling the three-phase current and voltage of the motor stator, and performing coordinate transformation on the sampling signal according to the current position information, obtaining the motor cross-axis current feedback i sd 、i sq , the sum of i sdq , and the cross-axis filter capacitor voltage feedback u sd 、u sq , the sum of u sdq .

[0075] Step 2, using a positionless algorithm based on LADRC to estimate the position information of the motor rotor, which specifically includes:

[0076] According to the permanent magnet synchronous motor mathematical model of q-axis in the synchronous rotating coordinate system,

[0077]

[0078] In the formula: u sq is the q-axis voltage of the stator winding; i sd 、i sq is the d-q axis current of the electronic winding; L q is the q-axis inductance of the stator winding; R s is the stator resistance; ψ f is the magnetic potential generated by the rotor permanent magnet;

[0079] From this, a positionless sensor algorithm based on LADRC can be designed, and the coupling effect of ω and i d to the q-axis current loop is taken as the disturbance w(t) of the q-axis current loop, which is observed by LESO.

[0080]

[0081] Design LESO observation disturbance: ​

[0082]

[0083] In i d = 0 control strategy,

[0084] Where β 11 , β 12 is LESO gain, all closed-loop pole is assigned to -ω0, observer gain can be parameterized, can be set β1=2ω0,

[0085] The z 11 of the second-order linear extended state observer is the real-time observation of i sq , and z 12 is the real-time observation of disturbance w(t), denoted as When , the speed ω of the motor can be accurately estimated, and then the rotor position θ can be obtained by integrating the speed.

[0086] The estimated speed is:

[0087] The estimated rotor position is:

[0088] Thus, the real-time speed and position angle information of the motor can be estimated.

[0089] Step 3, input the difference between the real-time speed ω and the given speed ω * to the speed regulator to obtain the reference value of the motor's cross-axis current;

[0090] The speed regulator is a PI regulator, and its transfer function is:

[0091]

[0092] In the formula, k p is the proportional gain coefficient, and k i is the integral gain coefficient.

[0093] Step 4, input the cross-axis current feedback i sq and the cross-axis current reference i sq * to the q-axis second-order LADRC current regulator to obtain the cross-axis current reference of the filter capacitor, input the d-axis current feedback i sd and the d-axis voltage reference i sd * to the d-axis second-order LADRC current regulator to obtain the d-axis current reference of the filter capacitor;

[0094] The d-q axis second-order LADRC current regulator is designed as follows:

[0095] The motor stator voltage equation is:

[0096]

[0097] The bridge arm current equation of the current source inverter in the rotating d-q axis coordinate system is:

[0098]

[0099]

[0100] Wherein, u sd , u sq represents the d-q axis component of the alternating filter capacitor voltage; i sd , i sq represents the d-q axis component of the motor stator current; i cd , i cq represents the d-q axis component of the capacitor current; i wd , i wq represents the d-q axis component of the inverter output current; ω represents the synchronous angular velocity; ψ f represents the motor rotor flux; C represents the filter capacitor; p is the differential operator; L d , L q represents the d-axis and q-axis inductance of the motor. For the hidden pole type permanent magnet synchronous motor, L d = L q = L.

[0101] Let z1 be the tracking signal of i sdq , z2 be the tracking signal of u sdq , and z3 be the tracking signal of the d-q axis unknown disturbance, and a second-order d-q axis LADRC regulator is designed.

[0102] The regulator is composed of LESO (linear extended state observer) and LESF (linear error feedback control law).

[0103] The LESO part of the d-axis LADRC is designed as follows:

[0104]

[0105] The LESO part of the q-axis LADRC is designed as follows:

[0106]

[0107] Wherein β1, β2, β3 are the LESO gains, the observer bandwidth is ω0, all closed-loop poles are assigned to -ω0, and the observer gain can be parameterized. It can be set that β1=3ω0, β2=3ω0 2, b3 = w0 3 .

[0108] The LESF part of the dq-axis LADRC is designed as follows:

[0109]

[0110] where k p , k d , and b0 are LESF parameters. Let the controller bandwidth be w c , and the controller gain be b0, then k p = 2w c , The controller bandwidth w c may be selected as w0 = 3-10w c .

[0111] Step 5, add the filtered q-axis and d-axis current reference values i cdq to the motor q-axis and d-axis current feedback values i sdq to obtain the q-axis and d-axis current reference values i wdq of the inverter, and then perform Park inverse transformation to obtain the amplitude and phase of the current required by the inverter;

[0112] Step 6, according to the amplitude and phase of the current required by the inverter and the estimated angle information, combined with the space vector pulse width modulation technology, obtain the switching signal to drive the inverter current amplitude and phase;

[0113] Step 7, repeat steps 1 to 6 to realize real-time inverter current amplitude and phase adjustment tracking, and rapid speed regulation.

[0114] Specific implementation method two: the implementation method two provides a current source inverter high-speed permanent magnet synchronous motor control system based on LADRC, comprising:

[0115] A position estimation module, which inputs q-axis voltage and current, and then estimates the motor speed and position angle signal through the LADRC algorithm;

[0116] A speed regulator, which is used to adjust the difference between the real-time speed w and the given speed w * to obtain the q-axis current reference value of the motor;

[0117] A current sensor, which is used to sample the three-phase current of the motor stator;

[0118] A voltage sensor, which is used to sample the three-phase voltage of the motor stator;

[0119] The coordinate transformation matrix is used for coordinate transformation of the current sensor sampling signal according to the current position information, so as to obtain the cross-axis current feedback of the motor and the direct-axis current feedback; and is also used for coordinate transformation of the voltage sensor sampling signal according to the current position information, so as to obtain the cross-axis voltage feedback of the motor and the direct-axis voltage feedback;

[0120] The current generation module is used for adding the filtered capacitor cross-axis and direct-axis current reference values to the cross-axis and direct-axis current feedback of the motor respectively to obtain the cross-axis and direct-axis current reference values of the inverter, and then performing Park inverse transformation to obtain the amplitude and phase of the current required by the inverter.

[0121] The space vector pulse width modulation module is used for obtaining the switching signal by combining the space vector pulse width modulation technology according to the amplitude and phase of the current required by the inverter and the current position information, so as to drive the amplitude and phase of the inverter current.

[0122] In order to verify the effect of the method proposed in the application, a simulation model is built in the tool MATLAB / Simulink, and part of the simulation parameters are shown in Table 1:

[0123] Table 1

[0124]

[0125] Figure 4 is a three-phase current waveform diagram of the high-speed permanent magnet synchronous motor in steady state operation, which shows that the second-order LADRC current regulator proposed in the scheme has good regulation effect on the motor current.

[0126] Figure 5 is an estimated and actual speed waveform diagram of the high-speed permanent magnet synchronous motor, which shows that the estimation of the actual speed in the scheme of the application is relatively accurate.

[0127] Figure 6 is a position angle estimation diagram of the position algorithm, which shows that the estimation of the position angle information in the position algorithm based on LADRC proposed in the application is relatively accurate.

[0128] The system described in the embodiment corresponds to the method described in the first embodiment, and the details are described in the description of the method, which will not be repeated here.

[0129] The application realizes the direct decoupling control of the current source inverter second-order system, improves the dynamic performance of the current source inverter, optimizes the control performance of the system through better parameter selection, reduces the motor stator current harmonics, and improves the anti-interference and robustness of the system. At the same time, the position sensorless algorithm based on LADRC has simple structure and high estimation accuracy, reduces the hardware cost of the system, improves the reliability, avoids the control delay and damage of the traditional position sensor in high-speed operation, and harms the normal operation of the high-speed motor. The application can not only solve the system instability problem caused by high control order and serious coupling of the motor in high-speed working condition, improve the robustness and dynamic performance of the system, but also solve the problems of high cost and low reliability of the traditional position sensor in high-speed operation, reduce the hardware cost of the system, and improve the dynamic performance.

[0130] The above is only a preferred embodiment of the application, and does not limit the application in any form. Although the application has been disclosed as above, it is not intended to limit the application. Any skilled person in the art can make some changes or modifications to the above disclosed technical content without departing from the technical solution of the application, and the equivalent embodiments with equivalent changes are equivalent to the embodiments. Any simple modification, equivalent replacement and improvement of the above embodiments, as long as it does not deviate from the technical solution of the application, is within the scope of protection of the application.

Claims

1. A LADRC-based current-source inverter high-speed permanent magnet synchronous motor control method, characterized by, The method comprises the following steps: Step 1, sampling three-phase current and voltage of the motor stator, and performing coordinate exchange on the sampling signals according to current position information to obtain motor cross-axis and direct-axis current feedback and cross-axis and direct-axis voltage feedback; Step 2, the and i sd to q The coupling effect of the shaft current ring as q The disturbance quantity of the shaft current ring, the input cross-axis voltage current u sq and i sq The real-time rotor position angle and speed are estimated after being processed by the LADRC-based positionless algorithm. Step 3, input the difference between the real-time rotating speed and the given rotating speed into the rotating speed regulator to obtain the cross-axis current reference value of the motor and given rotating speed ; Step 4, the quadrature-axis current feedback quantity i sq with the quadrature-axis current reference value input q a two-order LADRC current regulator in the d-axis, to obtain the d-axis current reference value of the filter capacitor, and the direct-axis current feedback quantity i sd with the direct-axis voltage reference value =0 input d a two-order LADRC current regulator in the d-axis, to obtain the d-axis current reference value of the filter capacitor d-q The shaft second-order LADRC current regulator is designed as follows: The motor stator voltage equation is: In rotation d-q The bridge arm current equation of the current source inverter in the axis coordinate system is: wherein u sd , u sq denotes the stator winding d-q shaft voltage; i sd , i sq denotes the motor stator current d-q shaft component; i cd , i cq denotes the filter capacitor current d-q shaft component; i wd , i wq denotes the inverter output current d-q shaft component; denotes the synchronous angular velocity; is the flux linkage generated by the rotor permanent magnet; C denotes the filter capacitor; p is the differential operator; L d , L q denotes the motor d shaft and q shaft inductance; let L d = L q = L ; R is the stator resistance; Let z 1 be i sdq the tracking signal, z 2 be u sdq the tracking signal, z 3 be d-q the tracking signal of the unknown disturbance of the axis, design the second-order d-q axis LADRC regulator as: The regulator is composed of a linear extended state observer and a linear error feedback control law; d The linear extended state observer part of the axle LADRC is designed as follows: q The linear extended state observer part of the axle LADRC is designed as follows: wherein β 1, β 2, β 3 is a linear extended state observer gain; d-q The LESF part of the shaft LADRC is designed as follows: wherein k p , k d , b 0 is a LESF parameter; is d-q a current reference value; The estimated capacitance current reference value is added to the sampled motor stator current to obtain the inverter output current i wdq estimate; Step 5, adding the filtered capacitor cross-axis and direct-axis current reference values to the motor cross-axis and direct-axis current feedback values respectively to obtain the inverter cross-axis and direct-axis current reference values, and performing Park inverse transformation to obtain the amplitude and phase of the current required by the modulation inverter; Step 6, according to the amplitude and phase of the current required by the modulation inverter and the estimated angle information, combining the space vector pulse width modulation technology, obtaining the switching signal to drive the adjustment inverter current amplitude and phase; Step 7, repeating steps 1 to 6 to realize real-time inverter current amplitude, phase adjustment tracking, and speed regulation. 2.The LADRC-based current-source inverter high-speed permanent magnet synchronous motor control method according to claim 1, wherein: In step 2, the position information of the motor rotor is estimated by the positionless algorithm, which comprises the following steps: Mathematical model of permanent magnet synchronous motor under synchronous rotating coordinate system q The mathematical model of the permanent magnet synchronous motor is: wherein: u sq Lsdqis the d-axis inductance of the stator windings q shaft voltage; i sd , i sq Lsdqis the d-axis inductance of the stator windings d-q shaft current; L d Lsdqis the d-axis inductance of the stator windings L q Lsdqis the d-axis inductance of the stator windings q shaft inductance; R s Rs is the stator resistance; Ψpmis the flux linkage generated by the rotor permanent magnets A position sensorless algorithm based on LADRC is designed, which will be described as follows And i sd For q Coupling effect of shaft current loop As q Disturbance of shaft current loop w (t), which is observed by the linear extended state observer; A linear extended state observer is designed to observe the disturbance: In i sd =0 control strategy, ; β 11 , β 12 The LESO gain, second order linear extended state observer z 11 The real-time observation of i sq , while z 12 is the real-time observation of the disturbance w (t), denoted as , when , the motor speed can be accurately estimated, and then the speed is integrated to obtain the motor rotor position θ; The estimated rotational speed is: ; The rotor position is estimated as: ; The real-time speed and position angle information of the motor are estimated by the above algorithm. 3.The LADRC-based current-source inverter high-speed permanent magnet synchronous motor control method of claim 1, wherein: The speed regulator in step 3 is a PI regulator, and its transfer function is: wherein k p is a proportional gain coefficient, k i is an integral gain coefficient.

4. A control system for a LADRC-based current-source inverter high-speed permanent magnet synchronous machine control method according to any one of claims 1-3, characterized in that, The system comprises: a position estimation module, input q The shaft voltage and current are estimated by the LADRC algorithm to obtain the motor speed and position angle signals. A speed regulator is configured to adjust the difference between the real-time speed and the given speed to obtain the cross-axis current reference value of the motor; A current sensor is configured to sample the three-phase current of the motor stator; A voltage sensor is configured to sample the three-phase voltage of the motor stator; A coordinate transformation matrix is configured to perform coordinate transformation on the current sensor sampling signals according to the current position information to obtain the cross-axis current feedback and the direct-axis current feedback of the motor, and is also configured to perform coordinate transformation on the voltage sensor sampling signals according to the current position information to obtain the cross-axis voltage feedback and the direct-axis voltage feedback of the motor; A current regulator is configured to adjust the difference between the cross-axis current feedback of the motor and the cross-axis current reference value to obtain the cross-axis filtered capacitor current reference value, and adjust the difference between the direct-axis current feedback of the motor and the zero reference current to obtain the direct-axis filtered capacitor current reference value; A current generation module is configured to add the filtered capacitor cross-axis and direct-axis current reference values to the motor cross-axis and direct-axis current feedback values respectively to obtain the inverter cross-axis and direct-axis current reference values, and perform Park inverse transformation to obtain the amplitude and phase of the current required by the modulation inverter; A space vector pulse width modulation module is configured to obtain the switching signal to drive the adjustment inverter current amplitude and phase according to the amplitude and phase of the current required by the modulation inverter and the current position information, combining the space vector pulse width modulation technology.

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