Segmented power supply LPDSLIM current decoupling control device and method

Abstract

The invention discloses a segmented power supply LPDSLIM current decoupling control method and device, and belongs to the technical field of motor control, and the method comprises the steps: setting a primary current reference value, and calculating a primary current angular frequency and a vector transformation angle based on the primary current reference value and a secondary speed; designing a complex vector controller, and performing closed-loop control on the primary current; self-adaptive damping feedback voltage and counter electromotive force are calculated and compensated, so that a compensated primary voltage reference value is generated; and inputting the primary voltage reference value into SVPWM (Space Vector Pulse Width Modulation) to generate an inverter driving signal so as to control the motor. According to the invention, effective decoupling of current control can be realized, and the method has high parameter robustness.

Description

Technical Field

[0001] The present invention belongs to the technical field of motor control, and more specifically, relates to a current decoupling control device and method for a segmented power supply LPDSLIM. Background Art

[0002] Linear drive devices are usually realized with the help of rotating motors and conversion devices (such as wire ropes, chains, transmission belts or screws). However, this type of system has disadvantages such as large size, high friction loss and low efficiency. In contrast, linear induction motors can directly convert electrical energy into linear motion without the need for intermediate conversion devices, which effectively improves energy transfer efficiency and reduces mechanical losses. It also has the advantages of simple structure, easy maintenance and good heat dissipation, so it is widely used in rail transportation and electromagnetic transmission.

[0003] LPDSLIM (Long primary double side linear induction motor, LPDSLIM) is a specially designed linear induction motor, which is characterized by a long primary and a short secondary. The secondary is made of lightweight aluminum plate material, with the advantages of simple structure and high thrust-to-weight ratio, which is particularly suitable for high-speed operation. However, because the primary length is much longer than the secondary, if the entire primary is powered, it will cause problems such as increased motor leakage inductance and reduced voltage utilization. In view of this, the long primary is generally divided into segments, and then the segmented power supply strategy is adopted.

[0004] The existing segmented power supply LPDSLIM mainly includes two types: multi-inverter drive topology and single inverter topology. Among them, the multi-inverter topology is simple to control and has good control performance. Compared with the single inverter topology, it has significant advantages and has been widely used. However, with the movement of the secondary, the coupling length between the primary poles continues to change, causing the equivalent resistance and equivalent inductance of the segmented power supply LPDSLIM to be time-varying parameters. Therefore, the current decoupling effect of the existing constant coefficient decoupling controller is not good, resulting in serious thrust fluctuation problems. It is urgent to develop a current decoupling control method suitable for segmented power supply LPDSLIM to improve the dynamic and steady-state performance of the current loop control, reduce thrust fluctuations, and improve system stability. Summary of the invention

[0005] In view of the above defects or improvement needs of the prior art, the present invention provides a current decoupling control device and method for a segmented power supply LPDSLIM, the purpose of which is to design an adaptive damping complex vector controller to decouple the primary current of the segmented power supply LPDSLIM, so as to improve the dynamic and steady-state performance of the current loop control and reduce thrust fluctuations.

[0006] To achieve the above objective, according to one aspect of the present invention, a current decoupling control method for a segmented power supply LPDSLIM is provided, comprising:

[0007] S1: Set the primary current reference value, and calculate the primary current angular frequency and vector transformation angle based on the primary current reference value and secondary speed;

[0008] S2: Design a complex vector controller to perform closed-loop control of the primary current;

[0009] S3: Calculate the adaptive damping feedback voltage and the back electromotive force, and perform compensation to generate a supplemented primary voltage reference value;

[0010] S4: Input the primary voltage reference value into SVPWM to generate an inverter drive signal to control the motor.

[0011] According to another aspect of the present invention, a current decoupling control device for a segmented power supply LPDSLIM is provided, comprising:

[0012] A transformation angle calculation module, used to calculate the primary current angular frequency according to the primary current reference value and the secondary speed, and then calculate the vector transformation angle;

[0013] A complex vector control module, used for performing closed-loop control on the primary current, thereby obtaining an uncompensated primary voltage reference value;

[0014] An adaptive damping feedback and back-EMF compensation module is used to perform damping compensation and back-EMF compensation on an uncompensated primary voltage reference value, thereby obtaining a compensated primary voltage reference value;

[0015] A coordinate transformation module is used to transform the current of the unit motor in the abc stationary coordinate system into the current in the dq rotating coordinate system;

[0016] The SVPWM module is used to generate an inverter drive signal according to the compensated primary voltage reference value, thereby realizing the control of the motor.

[0017] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0018] The present invention provides a segmented power supply LPDSLIM current decoupling control method, which realizes the segmented power supply LPDSLIM current loop decoupling control, improves the dynamic and steady-state performance of current control, and reduces thrust fluctuation.

[0019] More specifically, the present invention firstly provides specific mathematical expressions of equivalent resistance and equivalent inductance of the segmented power supply LPDSLIM, laying a foundation for the scientific design of subsequent current controller parameters.

[0020] Then, a complex vector controller and its parameter tuning method suitable for segmented power supply LPDSLIM are proposed, which can achieve effective decoupling of current control and has high parameter robustness.

[0021] Finally, an adaptive damping feedback method is introduced to flexibly adjust the closed-loop pole position of the system to ensure high stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a flow chart of a current decoupling control method for a segmented power supply LPDSLIM provided by an embodiment of the present invention.

[0023] Figure 2 It is a control block diagram of a current decoupling control method for a segmented power supply LPDSLIM provided by an embodiment of the present invention.

[0024] Figure 3 It is a structural schematic diagram of a transformation angle calculation module provided in an embodiment of the present invention.

[0025] Figure 4 It is a structural schematic diagram of a complex vector control module provided in an embodiment of the present invention.

[0026] Figure 5 It is a structural diagram of an adaptive damping feedback and back-EMF compensation module provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in each embodiment of the present invention described below can be combined with each other as long as they do not conflict with each other. To achieve the above-mentioned purpose, the present invention adopts the following technical scheme.

[0028] like Figure 1 As shown, this embodiment provides a current decoupling control method for a segmented power supply LPDSLIM, including:

[0029] S1: Set the primary current reference value, and calculate the primary current angular frequency and vector transformation angle based on the primary current reference value and secondary speed.

[0030] S2: Design a complex vector controller to perform closed-loop control of the primary current.

[0031] S3: Calculate the adaptive damping feedback voltage and the back electromotive force, and perform compensation, thereby generating a compensated primary voltage reference value.

[0032] S4: Input the primary voltage reference value into SVPWM to generate an inverter drive signal to control the motor.

[0033] Furthermore, the method further includes a coordinate transformation step for transforming the primary current of the unit motor abc in the stationary coordinate system Converted to the primary current in the dq rotating coordinate system and , the calculation method is:

[0034] ,

[0035] Example 2

[0036] like Figure 2 As shown, this embodiment provides a segmented power supply LPDSLIM current decoupling control device, including: a transformation angle calculation module, a complex vector control module, an adaptive damping feedback and back-EMF compensation module, a coordinate transformation module, and an SVPWM module. The transformation angle calculation module is used to calculate the primary current angular frequency according to the primary current reference value and the secondary speed, and then calculate the vector transformation angle. The complex vector control module is used to perform closed-loop control on the primary current, and then obtain the uncompensated primary voltage reference value. The adaptive damping feedback and back-EMF compensation module is used to perform damping compensation and back-EMF compensation on the uncompensated primary voltage reference value, and then obtain the compensated primary voltage reference value. The coordinate transformation module is used to convert the current of the unit motor in the abc stationary coordinate system into the current in the dq rotating coordinate system. The SVPWM module is used to generate an inverter drive signal according to the compensated primary voltage reference value, so as to control the motor.

[0037] Specifically, the transformation angle calculation module is used to calculate the primary current d-axis reference value according to and q-axis reference value , and the secondary speed , calculate the primary current angular frequency , and then calculate the vector transformation angle The complex vector control module is used to adjust the actual value of the primary current d axis according to the actual value of the primary current d axis. and reference value , and the actual value of the q-axis and reference value , determine the d-axis and q-axis reference values ​​of the uncompensated primary voltage and The adaptive damping feedback and back-EMF compensation module is used to adjust the actual value of the primary current d-axis and the actual value of the q axis , secondary speed , and the d-axis and q-axis reference values ​​of the uncompensated primary voltage and , calculate the d-axis and q-axis reference values ​​of the primary voltage after compensation and The coordinate transformation module is used to transform the current of the unit motor abc in the stationary coordinate system Converted to the current in the dq rotating coordinate system and SVPWM module, used to calculate the d-axis and q-axis reference values ​​of the compensated primary voltage and , generate inverter drive signal, thereby realizing the control of the motor.

[0038] Specifically, S1 includes: according to the primary current d-axis reference value , primary current q-axis reference value and secondary speed Calculate the primary current angular frequency and vector transformation angle , the calculation formula is:

[0039] ,

[0040] in, is the secondary time constant, whose value is the secondary inductance Divide by the secondary resistance , For the pole distance.

[0041] Specifically, Figure 3 As shown, the transformation angle calculation module includes: a first multiplier, a first proportional device, a first adder, and a first integrator.

[0042] The first multiplier is used to convert the primary current d-axis reference value , primary current q-axis reference value and the secondary time constant conduct Calculate the slip angle frequency The first proportional device is used to convert the secondary speed Proportional Operation to obtain the rotor angular frequency The input end of the first adder is connected to the first multiplier and the first scaler to convert the slip angle frequency and rotor angular frequency Perform summation to obtain the primary current angular frequency The input end of the first integrator is connected to the first adder for converting the primary current angular frequency Perform an integral operation to obtain the vector transformation angle .

[0043] Specifically, S2 includes:

[0044] S21: Select the current loop cutoff frequency ;

[0045] S22: Calculate the equivalent inductance of the unit motor , equivalent resistance and adaptive damping ;

[0046] S23: Calculate the proportional coefficient of complex vector control and the integral coefficient ;

[0047] S24: Use the complex vector controller to adjust the primary current d-axis difference and q-axis difference Adjustments are made to obtain the d-axis and q-axis reference values ​​of the uncompensated primary voltage and .

[0048] Specifically, Figure 4 As shown, the complex vector control module includes: second to seventh adders, second to third multipliers, second to seventh proportional devices, and second to third integrators. The second adder is used to convert the primary current d-axis reference value With actual value Difference is made to obtain the primary current d-axis difference The input end of the second proportional device is connected to the second adder for calculating the primary current d-axis difference Perform proportional operation to obtain The input end of the third proportional device is connected to the second adder for calculating the primary current d-axis difference Perform proportional operation to obtain The second multiplier is used to adjust the primary current angular frequency The difference between the primary current and the q axis Perform the product operation to obtain The input end of the fourth scaler is connected to the second multiplier for Perform proportional operation to obtain The input end of the third adder is connected to the third scaler and the fourth scaler for calculating The input end of the second integrator is connected to the third adder for The input end of the fourth adder is connected to the second proportional device and the second integrator to calculate and The sum of the integrals gives the d-axis reference value of the uncompensated primary voltage The fifth adder is used to convert the primary current q-axis reference value With actual value Difference is made to obtain the primary current q-axis difference The input end of the fifth proportional device is connected to the fifth adder for calculating the primary current q-axis difference. Perform proportional operation to obtain The input end of the sixth proportional device is connected to the fifth adder, which is used to calculate the primary current q-axis difference. Perform proportional operation to obtain The third multiplier is used to adjust the primary current angular frequency The difference between the primary current and the d-axis Perform the product operation to obtain The input end of the seventh scaler is connected to the third multiplier for Perform proportional operation to obtain The input end of the sixth adder is connected to the sixth scaler and the seventh scaler for calculating The input end of the third integrator is connected to the sixth adder for The input end of the seventh adder is connected to the fifth proportional device and the third integrator to calculate and The sum of the integrals gives the q-axis reference value of the uncompensated primary voltage .

[0049] Specifically, S22 includes: unit motor equivalent inductance and equivalent resistance The calculation formula is:

[0050] ,

[0051] in, is the primary resistance, For mutual induction, is the primary inductance, is the coupling coefficient, which is the coupling length between the secondary and the primary Divide by the primary length , is the derivative symbol.

[0052] Specifically, S22 includes: Adaptive damping The value of is set to:

[0053] ,

[0054] in, It is an adjustable coefficient, ranging from 0 to 1.

[0055] Specifically, S23 includes: the proportional coefficient of complex vector control and the integral coefficient Designed for:

[0056] ,

[0057] Specifically, S24 includes: using the designed complex vector controller to calculate the primary current d-axis difference and q-axis difference Adjustments are made to obtain the d-axis and q-axis reference values ​​of the uncompensated primary voltage and , the acquisition method is:

[0058] ,

[0059] Specifically, S3 includes:

[0060] S31: Using adaptive damping , Actual value of primary current d-axis and the actual value of the q axis , calculate the d-axis and q-axis components of the adaptive damping feedback voltage and ;

[0061] S32: Use the actual value of the primary current d-axis and secondary speed , calculate the d-axis and q-axis components of the back EMF compensation value and ;

[0062] S33: d-axis and q-axis reference values ​​using uncompensated primary voltage and , the d-axis and q-axis components of the adaptive damping feedback voltage value and , d-axis and q-axis components of the back EMF compensation value and Calculate the d-axis and q-axis reference values ​​of the compensated primary voltage and .

[0063] Specifically, Figure 5 As shown, the adaptive damping feedback and back-EMF compensation module includes: an eighth to a ninth adder, a fourth multiplier, and an eighth to an eleventh proportional device.

[0064] The eighth proportional device is used to calculate the actual value of the primary current d-axis Perform proportional operation to obtain the d-axis component of the adaptive damping feedback voltage The ninth proportional device is used to calculate the actual value of the primary current d-axis Perform proportional calculation to obtain the d-axis component of the back EMF compensation value The input end of the eighth adder is connected to the eighth scaler and the ninth scaler to adjust the d-axis component of the adaptive damping feedback voltage. , d-axis component of the back EMF compensation value , d-axis reference value of uncompensated primary voltage Perform summation to obtain the d-axis reference value of the primary voltage after compensation The tenth proportional device is used to calculate the actual value of the primary current q axis. Perform proportional operation to obtain the q-axis component of the adaptive damping feedback voltage The fourth multiplier is used to calculate the actual value of the primary current d-axis With secondary speed The product of The input end of the eleventh proportional device is connected to the fourth multiplier for Perform proportional calculation to obtain the q-axis component of the back EMF compensation value The input end of the ninth adder is connected to the tenth proportional device and the eleventh proportional device, and is used to adjust the q-axis component of the adaptive damping feedback voltage. , the q-axis component of the back EMF compensation value , q-axis reference value of uncompensated primary voltage Perform summation to obtain the q-axis reference value of the primary voltage after compensation .

[0065] Specifically, S31 includes: using the adaptive damping value , Actual values ​​of primary current d-axis and q-axis and , calculate the d-axis and q-axis components of the adaptive damping feedback voltage value and , the calculation method is:

[0066] ,

[0067] Specifically, S32 includes: using the actual value of the primary current d-axis and secondary speed , calculate the d-axis and q-axis components of the back EMF compensation value and , the calculation method is:

[0068] ,

[0069] Specifically, S33 includes: using the d-axis and q-axis reference values ​​of the uncompensated primary voltage and , the d-axis and q-axis components of the adaptive damping feedback voltage value and , d-axis and q-axis components of the back EMF compensation value and , calculate the d-axis and q-axis reference values ​​of the primary voltage after compensation and , the calculation method is:

[0070] .

[0071] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A current decoupling control method for a segmented power supply LPDSLIM, characterized in that: include: S1: Set the primary current reference value, and calculate the primary current angular frequency and vector transformation angle based on the primary current reference value and secondary speed; S2: Design a complex vector controller to perform closed-loop control of the primary current; S3: Calculate the adaptive damping feedback voltage and the back electromotive force, and perform compensation, thereby generating a compensated primary voltage reference value; S4: Input the primary voltage reference value into SVPWM to generate an inverter drive signal to control the motor.

2. The current decoupling control method of the segmented power supply LPDSLIM according to claim 1, characterized in that: The S1 includes: according to the primary current d-axis reference value , primary current q-axis reference value and secondary speed Calculate the primary current angular frequency and vector transformation angle , the calculation formula is: ， in, is the secondary time constant, whose value is the secondary inductance Divide by the secondary resistance , For the pole distance.

3. The current decoupling control method of the segmented power supply LPDSLIM according to claim 2, characterized in that: The S2 includes: S21: Select the current loop cutoff frequency ; S22: Calculate the equivalent inductance of the unit motor , equivalent resistance and adaptive damping ; S23: Calculate the proportional coefficient of the complex vector controller and the integral coefficient ; S24: Use the complex vector controller to adjust the primary current d-axis difference and q-axis difference Adjustments are made to obtain the d-axis and q-axis reference values ​​of the uncompensated primary voltage and .

4. The current decoupling control method of the segmented power supply LPDSLIM according to claim 3, characterized in that: The S22 includes: unit motor equivalent inductance and equivalent resistance The calculation formula is: ， in, is the primary resistance, For mutual induction, is the primary inductance, is the coupling coefficient, which is the coupling length between the secondary and the primary Divide by the primary length , is the derivative symbol.

5. The current decoupling control method of the segmented power supply LPDSLIM according to claim 4, characterized in that: The S22 includes: Adaptive damping The value of is set to: ， in, It is an adjustable coefficient, ranging from 0 to 1.

6. The segmented power supply LPDSLIM current decoupling control method according to claim 5, characterized in that: The S23 includes: the proportional coefficient of the complex vector controller and the integral coefficient Designed for: 。 7. The current decoupling control method of the segmented power supply LPDSLIM according to claim 6, characterized in that: The S24 includes: using the designed complex vector controller to calculate the primary current d-axis difference and q-axis difference Adjustments are made to obtain the d-axis and q-axis reference values ​​of the uncompensated primary voltage and , the acquisition method is: 。 8. The current decoupling control method of the segmented power supply LPDSLIM according to claim 7, characterized in that: The step of coordinate transformation is also included, which is used to transform the primary current of the unit motor abc in the stationary coordinate system Converted to the primary current in the dq rotating coordinate system and , the calculation method is: 。 9. The current decoupling control method of the segmented power supply LPDSLIM according to claim 8, characterized in that: The S3 includes: S31: Using adaptive damping , Actual value of primary current d-axis and the actual value of the q axis , calculate the d-axis and q-axis components of the adaptive damping feedback voltage and ; S32: Use the actual value of the primary current d-axis and secondary speed , calculate the d-axis and q-axis components of the back EMF compensation value and ; S33: d-axis and q-axis reference values ​​using uncompensated primary voltage and , the d-axis and q-axis components of the adaptive damping feedback voltage value and , d-axis and q-axis components of the back EMF compensation value and Calculate the d-axis and q-axis reference values ​​of the compensated primary voltage and .

10. The current decoupling control method of the segmented power supply LPDSLIM according to claim 9, characterized in that: The S31 includes: using an adaptive damping value , Actual values ​​of primary current d-axis and q-axis and , calculate the d-axis and q-axis components of the adaptive damping feedback voltage value and , the calculation method is: 。 11. The current decoupling control method of the segmented power supply LPDSLIM according to claim 10, characterized in that: The S32 includes: using the actual value of the primary current d axis and secondary speed , calculate the d-axis and q-axis components of the back EMF compensation value and , the calculation method is: 。 12. The current decoupling control method of the segmented power supply LPDSLIM according to claim 11, characterized in that: The S33 comprises: using the d-axis and q-axis reference values ​​of the uncompensated primary voltage and , the d-axis and q-axis components of the adaptive damping feedback voltage value and , d-axis and q-axis components of the back EMF compensation value and , calculate the d-axis and q-axis reference values ​​of the primary voltage after compensation and , the calculation method is: 。 13. A segmented power supply LPDSLIM current decoupling control device, characterized in that: include: A transformation angle calculation module, used to calculate the primary current angular frequency according to the primary current reference value and the secondary speed, and then calculate the vector transformation angle; A complex vector control module, used for performing closed-loop control on the primary current, thereby obtaining an uncompensated primary voltage reference value; An adaptive damping feedback and back-EMF compensation module is used to perform damping compensation and back-EMF compensation on an uncompensated primary voltage reference value, thereby obtaining a compensated primary voltage reference value; A coordinate transformation module, used for transforming the primary current of the unit motor in the abc stationary coordinate system into the primary current in the dq rotating coordinate system; The SVPWM module is used to generate an inverter drive signal according to the compensated primary voltage reference value, thereby realizing the control of the motor.

14. The current decoupling control device for segmented power supply LPDSLIM according to claim 13, characterized in that: The transformation angle calculation module is used to calculate the primary current d-axis reference value according to the and q-axis reference value , and the secondary speed , calculate the primary current angular frequency , and then calculate the vector transformation angle ; The complex vector control module is used to control the actual value of the primary current d axis and reference value , and the actual value of the q axis and reference value , determine the d-axis and q-axis reference values ​​of the uncompensated primary voltage and ; The adaptive damping feedback and back-EMF compensation module is used to adjust the actual value of the primary current d-axis and the actual value of the q axis , secondary speed , and the d-axis and q-axis reference values ​​of the uncompensated primary voltage and , calculate the d-axis and q-axis reference values ​​of the primary voltage after compensation and ; The coordinate transformation module is used to transform the current of the unit motor abc in the stationary coordinate system Converted to the current in the dq rotating coordinate system and ; SVPWM module, used to calculate the d-axis and q-axis reference values ​​of the compensated primary voltage and , generate inverter drive signal, thereby realizing the control of the motor.

15. The current decoupling control device for segmented power supply LPDSLIM according to claim 14, characterized in that: The transformation angle calculation module includes: a first multiplier, a first proportional device, a first adder, and a first integrator; The first multiplier is used to convert the primary current d-axis reference value , primary current q-axis reference value and the secondary time constant conduct Calculate the slip angle frequency , the first proportional device is used to convert the secondary speed Proportional Operation to obtain the rotor angular frequency The input end of the first adder is connected to the first multiplier and the first proportional device, which is used to convert the slip angle frequency and rotor angular frequency Perform summation to obtain the primary current angular frequency The input end of the first integrator is connected to the first adder for converting the primary current angular frequency Perform an integral operation to obtain the vector transformation angle .

16. The current decoupling control device for segmented power supply LPDSLIM according to claim 15, characterized in that: The complex vector control module includes: second to seventh adders, second to third multipliers, second to seventh proportional devices, and second to third integrators; The second adder is used to convert the primary current d-axis reference value With actual value Difference is made to obtain the primary current d-axis difference The input end of the second proportional device is connected to the second adder for calculating the primary current d-axis difference Perform proportional operation to obtain The input end of the third proportional device is connected to the second adder for calculating the primary current d-axis difference Perform proportional operation to obtain The second multiplier is used to adjust the primary current angular frequency The difference between the primary current and the q axis Perform the product operation to obtain The input end of the fourth scaler is connected to the second multiplier to Perform proportional operation to obtain The input end of the third adder is connected to the third scaler and the fourth scaler to calculate The input end of the second integrator is connected to the third adder for The input end of the fourth adder is connected to the second proportional device and the second integrator for calculating and The sum of the integrals gives the d-axis reference value of the uncompensated primary voltage The fifth adder is used to convert the primary current q-axis reference value With actual value Difference is made to obtain the primary current q-axis difference The input end of the fifth proportional device is connected to the fifth adder for calculating the primary current q-axis difference Perform proportional operation to obtain The input end of the sixth proportional device is connected to the fifth adder for calculating the primary current q-axis difference Perform proportional operation to obtain The third multiplier is used to adjust the primary current angular frequency The difference between the primary current and the d-axis Perform the product operation to obtain The input end of the seventh scaler is connected to the third multiplier to Perform proportional operation to obtain The input end of the sixth adder is connected to the sixth proportional device and the seventh proportional device to calculate The input end of the third integrator is connected to the sixth adder for The seventh adder input is connected to the fifth proportional device and the third integrator to calculate and The sum of the integrals gives the q-axis reference value of the uncompensated primary voltage 。 17. The current decoupling control device for segmented power supply LPDSLIM according to claim 16, characterized in that: The adaptive damping feedback and back-EMF compensation module includes: an eighth to ninth adder, a fourth multiplier, and an eighth to eleventh proportional device; The eighth proportional device is used to calculate the actual value of the primary current d-axis Perform proportional operation to obtain the d-axis component of the adaptive damping feedback voltage The ninth proportional device is used to calculate the actual value of the primary current d axis Perform proportional calculation to obtain the d-axis component of the back EMF compensation value The input end of the eighth adder is connected to the eighth proportional device and the ninth proportional device, which is used to adjust the d-axis component of the adaptive damping feedback voltage. , d-axis component of the back EMF compensation value , d-axis reference value of uncompensated primary voltage Perform summation to obtain the d-axis reference value of the primary voltage after compensation The tenth proportional device is used to calculate the actual value of the primary current q axis Perform proportional operation to obtain the q-axis component of the adaptive damping feedback voltage The fourth multiplier is used to calculate the actual value of the primary current d-axis With secondary speed The product of The input end of the eleventh proportional device is connected to the fourth multiplier for Perform proportional calculation to obtain the q-axis component of the back EMF compensation value The input end of the ninth adder is connected to the tenth proportional device and the eleventh proportional device to adjust the q-axis component of the adaptive damping feedback voltage. , the q-axis component of the back EMF compensation value , q-axis reference value of uncompensated primary voltage Perform summation to obtain the q-axis reference value of the primary voltage after compensation .

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