Two-channel permanent magnet synchronous motor power supply imbalance harmonic suppression method based on ESO

Abstract

The invention relates to a two-channel permanent magnet synchronous motor power supply imbalance harmonic suppression method based on ESO, and the method comprises the steps: collecting the actual rotating speed and phase current of a motor, and calculating the subspace current through a vector space decoupling scheme; the rotating speed and the lumped interference value are estimated online through ESO in a rotating speed ring, the actual rotating speed is replaced with the rotating speed estimated value, the lumped interference value is used for compensation, and then disturbance of q-axis current is restrained; eSO is adopted to observe a current estimation value and a total disturbance estimation value in an x-y subspace, the current estimation value replaces actual current, the total disturbance estimation value serves as a compensation value to reduce system interference, and harmonic sub-plane current suppression is achieved; and finally, carrying out inverse VSD conversion on the voltage after disturbance compensation to generate a six-phase phase voltage as an input signal of SVPWM (Space Vector Pulse Width Modulation). According to the method, balanced output of the current under power supply imbalance can be achieved, the problem that the harmonic current is too large is solved, the system calculation burden is small, the robustness is high, and the dynamic and steady state performance is good.

Description

Technical Field

[0001] The present invention relates to a motor drive control method, and in particular to a dual-channel permanent magnet synchronous motor drive control method. Background Art

[0002] As new energy electric vehicles continue to place increasing demands on the reliability and safety of their drive systems, the use of multi-power independent power supply systems has become a research hotspot in academia and industry due to their advantages such as high torque density, strong fault tolerance, and high power levels. The control object of the method of the present invention is a dual-channel permanent magnet synchronous motor that is independently powered by two three-phase inverters. This topology enables the electric drive system to have the characteristics of high reliability, strong fault tolerance, and high output power. However, in the dual-power supply mode, the imbalance of the power supply voltage will cause additional heat loss in the system, increase the harmonic content of current and torque, and thus reduce the operating efficiency of the motor, seriously affecting the control performance of the system. Therefore, this key issue needs to be solved urgently to give full play to the advantages of the multi-channel system.

[0003] In the existing technology, vector control is the mainstream solution for single-power PMSM (permanent magnet synchronous motor) electric drive systems, mainly using PI controllers to achieve subspace current regulation and stable motor operation. In the case of power supply imbalance in dual-power PMSM electric drive systems, due to the generation of negative sequence components on the stator side of the motor, the subspace current will appear as a superposition of DC and AC components. However, due to the bandwidth limitations of the PI controller, the AC component cannot be effectively controlled. Therefore, traditional vector control schemes will cause problems such as current harmonic surges and torque pulsation in dual-channel PMSM electric drive systems. In addition, the reduction of harmonic torque will cause the attenuation of harmonic speed, which in turn leads to poor PMSM speed tracking, which hinders the application of PMSMs with high performance requirements. However, existing control strategies cannot achieve current balance under uneven power supply conditions, and the dynamic and steady-state control requirements of dual-channel PMSMs are difficult to meet. Summary of the Invention

[0004] Purpose of the invention: To address the above problems, a method for suppressing unbalanced harmonics in a dual-channel permanent magnet synchronous motor power supply based on ESO is proposed to solve the problems of current asymmetry and increased harmonic content in a dual-channel PMSM electric drive system under unbalanced power supply.

[0005] Technical solution: A method for suppressing unbalanced harmonics in a dual-channel permanent magnet synchronous motor power supply based on ESO, including:

[0006] Step 1: Collect the speed n, rotor position angle θ, and dual-channel DC bus voltage v of the dual-channel permanent magnet synchronous motor dc1 、v dc2 , and dual-channel phase current I ABC , I UVW, and use coordinate transformation to obtain the sub-plane current i d ,i q ,i x ,i y ;

[0007] Step 2: In the speed loop, the speed n and the current i are correlated. q The motor speed estimation value z is obtained by online calculation using the extended state observer 1_speed and the estimated value of the total speed interference z 2_speed , replace the actual speed with the estimated value and effectively suppress the disturbance of q-axis current through compensation;

[0008] Step 3: Transform the current i into the xy subspace x 、i y and the control voltage v x 、v y By observing the subspace current estimation value and the total disturbance estimation value through the extended state observer, the current estimation value is used to replace the actual current value and the total disturbance estimation value is used as the compensation value to reduce the system interference;

[0009] Step 4: By performing coordinate transformation on the voltage after disturbance compensation, the six-phase voltage U is obtained. ABC 、U UVW ;

[0010] Step 5: The six-phase voltage U obtained in step 4 ABC 、U UVW The modulation wave output by SVPWM is compared with the carrier wave to generate a PWM signal that acts on the dual-channel inverter of the motor.

[0011] Furthermore, in step 1, the currents of windings ABC and UVW are in a balanced state under dual-channel unbalanced power supply, but the current amplitudes between the two sets of windings are different, containing 5th, 7th, 11th, 13th, 17th, and 19th harmonics. The specific expression of the phase current is:

[0012]

[0013] Where, I m1 , I n1 are the fundamental amplitudes of the phase currents of windings ABC and UVW, respectively. mh , I nh are the hth harmonic current amplitudes of winding ABC and winding UVW, respectively, h = 6k ± 1, k = 1, 2, 3, set H = {5, 7, 11, 13, 17, 19};

[0014] The sub-plane current obtained by VSD coordinate transformation is:

[0015]

[0016] Where i α 、i β is the fundamental sub-plane current, i x 、i y is the harmonic sub-plane current, l1 and l2 are constants and l1∈{5,7,17,19}, l2∈{1,11,13}, are the differences in the amplitudes of the l1 and l2 harmonic currents of the two sets of windings, are the sum of the l1 and l2 harmonic current amplitudes of the two sets of windings, that is, I ml1 , I ml2 are the l1 and l2 harmonic current amplitudes of winding ABC, I nl1 , I nl2 are the l1 and l2 harmonic current amplitudes of winding UVW respectively; the fundamental sub-plane current i α 、i β After TS coordinate transformation, the d-axis and q-axis currents i are obtained. d 、i q .

[0017] Furthermore, in step 2, the speed loop expansion state observer is:

[0018]

[0019] Where, e1 is the speed observation error; z 1_speed is the estimated motor speed, z 2_speed is the estimated value of the total speed disturbance, β 01_speed , β 02_speed are gain coefficients and are parameters that need to be adjusted; b0 is the electromagnetic torque coefficient and P is the number of pole pairs, is the permanent magnet flux, J is the moment of inertia;

[0020] The pole placement method is used to adjust the parameters, and we get:

[0021]

[0022] Where, ω 0_speed is the bandwidth of the speed loop expansion state observer, 0<ω 0_speed <2 / T s , T s is the sampling period.

[0023] Furthermore, in step 3, the xy subspace expansion state observer is:

[0024]

[0025] Where, e2 is the subspace current observation error, z 1_xy is the estimated value of the current in the xy subplane, z 2_xy is the total disturbance estimate, i xy is the actual value of the harmonic current in the xy subplane, u xy is the control voltage signal, L z is the motor leakage inductance parameter, β 01_xy , β 02_xy are gain coefficients and are parameters that need to be adjusted;

[0026] Use the pole placement method to perform parameter tuning:

[0027]

[0028] Where, ω 0_xy is the bandwidth of the xy-subspace expansion observer, 0<ω 0_xy <2 / T s .

[0029] Furthermore, in the speed loop, using z 1_speed With reference speed n * The error is used by the PI controller to generate the basic q-axis current i q0 ; z 2_speed with i q0 The difference is used as the basic q-axis reference current With current i q The difference between the two and the d-axis reference current With current i d The difference between the two is respectively generated by the PI controller to generate the q-axis voltage v q and d-axis voltage v d , and then generate the α-axis and β-axis voltage v through coordinate transformation α 、v β , which is the compensated α-β subspace control voltage value.

[0030] Furthermore, in the xy subspace, the extended state observer is based on the current i x 、i y and control voltage u x 、u y Real-time output of xy sub-plane current estimation value z 1_x 、z 1_y and the total disturbance estimate z 2_x 、z 2_y ;z 1_x 、z 1_y With reference current The corresponding errors are respectively used to generate the basic voltage u through the PI controller x0 、u y0; Then z 2_x 、z 2_y As a disturbance compensation term, it is introduced into u x0 、u y0 The compensated xy subspace control voltage u is obtained x 、u y value.

[0031] Beneficial effects: (1) Compared with the traditional single-power supply permanent magnet synchronous motor control method, the present invention takes into account the situation of dual power supply, has strong adaptability and a wide range of applications.

[0032] (2) Compared with the traditional permanent magnet synchronous motor powered by a single power supply, this method takes into account the imbalance of dual power supplies, estimates the lumped interference value by embedding ESO, realizes disturbance compensation, and has fast dynamic response and strong robustness.

[0033] (3) Compared with traditional control methods that rely on complex harmonic separation algorithms or multiple controllers, this method uses ESO to observe and compensate for disturbances and combines it with a PI controller to accurately suppress harmonic plane currents, making it easy to implement in engineering.

[0034] (5) In this method, the introduction of ESO in the velocity loop and xy subspace can estimate and compensate the interference value of the system in real time, thereby improving the dynamic response capability and robustness of the system, and has certain engineering application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a control block diagram of a method for suppressing unbalanced harmonics in a dual-channel permanent magnet synchronous motor power supply based on ESO according to the present invention;

[0036] Figure 2 is the speed n of the dual-channel permanent magnet synchronous motor of the present invention in a balanced state, where (a) corresponds to before compensation and (b) corresponds to after compensation;

[0037] Figure 3 The phase current i is the output of the dual-channel permanent magnet synchronous motor system of the present invention under balanced and unbalanced power supply. A 、i U and harmonic currents;

[0038] Figure 4 The phase current i before and after compensation of the dual-channel permanent magnet synchronous motor system of the present invention is 10V under the condition that the voltage difference between the dual power supplies is 10V. A 、i U and harmonic currents;

[0039] Figure 5 The dual-channel permanent magnet synchronous motor system of the present invention is under the condition that the dual power supply voltage difference is 20V, and the phase current i before and after compensation is A 、iU and harmonic currents;

[0040] Figure 6 The phase current i before and after compensation of the dual-channel permanent magnet synchronous motor system of the present invention is 30V under the condition that the voltage difference between the dual power supplies is 30V. A 、i U and harmonic currents;

[0041] Figure 7 The phase current i of the dual-channel permanent magnet synchronous motor system of the present invention under unbalanced power supply and sudden speed change is A 、i U and harmonic currents;

[0042] Figure 8 The phase current i of the dual-channel permanent magnet synchronous motor system of the present invention under the sudden change of the dual power supply voltage difference is A 、i U and the DC bus voltage. DETAILED DESCRIPTION

[0043] The present invention will be further described in detail below with reference to the accompanying drawings and through examples. The following examples are intended to explain the present invention but the present invention is not limited to the following examples.

[0044] A dual-channel permanent magnet synchronous motor power supply unbalanced harmonic suppression method based on ESO. The control block diagram of the system is as follows: Figure 1 As shown in the figure. First, the motor speed and phase current are collected by sensors, and the subspace current information is obtained using a vector space decoupling scheme. Second, the extended state observer (ESO) is used in the speed loop to estimate the speed and lumped disturbance value online. The speed estimate is used to replace the actual speed, and the lumped disturbance value is used for compensation, thereby suppressing the disturbance of the q-axis current. Then, the ESO is used to observe the current estimate and the total disturbance estimate in the xy subspace. The current estimate is used to replace the actual current, and the total disturbance estimate is used as the compensation value to reduce the system disturbance and achieve harmonic subplane current suppression. Finally, the disturbance-compensated voltage is subjected to an inverse VSD transformation to generate the six-phase voltage, which is used as the input signal of the SVPWM. The output modulation wave is compared with the carrier to generate the PWM signal to drive the dual-channel inverter.

[0045] The specific steps are as follows:

[0046] Step 1: Collect the speed n, rotor position angle θ, and dual-channel DC bus voltage v of the dual-channel permanent magnet synchronous motor dc1 、v dc2 , and dual-channel phase current. Under dual-channel unbalanced power supply, the currents in windings ABC and UVW are balanced, but the amplitudes are different. The specific expression of the phase current is:

[0047]

[0048] Where, I m1 , I n1 are the fundamental amplitudes of the phase currents of windings ABC and UVW, respectively. mh , I nh are the hth harmonic current amplitudes of winding ABC and winding UVW respectively, h=6k±1, k=1,2,3, so the set H={5,7,11,13,17,19}.

[0049] The sub-plane current obtained after VSD coordinate transformation is:

[0050]

[0051] Where i α 、i β is the fundamental sub-plane current, i x 、i y is the harmonic sub-plane current, l1 and l2 are constants and l1∈{5,7,17,19}, l2∈{1,11,13}, are the differences in the amplitudes of the l1 and l2 harmonic currents of the two sets of windings, are the sum of the l1 and l2 harmonic current amplitudes of the two sets of windings, that is, I ml1 , I ml2 are the l1 and l2 harmonic current amplitudes of winding ABC, I nl1 , I nl2 are the l1 and l2 harmonic current amplitudes of winding UVW respectively. α 、i β After TS coordinate transformation, the d-axis and q-axis currents i are obtained. d 、i q .

[0052] Step 2: Introduce the speed loop expansion state observer as follows:

[0053]

[0054] Where, e1 is the speed observation error; z 1_speed is the estimated motor speed, z 2_speed is the estimated value of the total speed disturbance, β 01_speed , β 02_speed are gain coefficients and are parameters that need to be adjusted; b0 is the electromagnetic torque coefficient and P is the number of pole pairs, is the permanent magnet flux, and J is the moment of inertia.

[0055] In order to reduce the parameters that need to be adjusted, according to its characteristic equation:

[0056] Φ(s)=s 2 +β 01_speed s+β 02_speed =(s+ω 0_speed ) 2 (4)

[0057] The pole placement method is used to adjust the ESO parameters, and the following is obtained:

[0058]

[0059] Where, ω 0_speed is the bandwidth of the speed loop expansion state observer, which determines the convergence speed, 0<ω 0_speed <2 / T s , T s is the sampling period.

[0060] In the speed loop, ESO is based on the actual speed n and the actual current i of the q axis. q Real-time output of motor speed estimation value z 1_speed and the estimated value of the total speed interference z 2_speed , using z 1_speed With reference speed n * The error is used by the PI controller to generate the basic q-axis current i q0 ; Then z 2_speed As a compensation term, it is introduced into i q0 In the compensation control, z 2_speed with i q0 The difference is used as the basic q-axis reference current The actual current i of the q axis q The difference between the two and the d-axis reference current The actual current i of the d-axis d The difference between the two is respectively generated by the PI controller to generate the q-axis voltage v q and d-axis voltage v d , and then generate the α-axis and β-axis voltage v through coordinate transformation α 、v β .

[0061] The extended state observer provides increased gain at low frequency, which can make the speed tracking performance of the drive system better, thereby improving the step response speed and load mutation resistance of the dual-channel PMSM drive system.

[0062] Step 3: Introduce the xy subspace expansion state observer as:

[0063]

[0064]

[0065] Where, e2 and e'2 are the subspace current observation errors, z 1_x 、z 1_y are the estimated current values of the xy sub-plane, z 2_x 、z 2_y are the total disturbance estimates, i x 、i y are the actual values of harmonic currents in the xy sub-plane, u x 、u y is the control voltage signal, L z is the motor leakage inductance parameter, β 01_x , β 01_y , β 02_x , β 02_y are the gain coefficients and are the parameters that need to be adjusted.

[0066] In order to reduce the number of parameters that need to be adjusted, the pole placement method is used to tune the ESO parameters, similar to the ESO used in the speed loop:

[0067]

[0068] Where, ω 0_x 、ω 0_y are the bandwidths of the xy subspace expansion observer, respectively, which determine the tracking capability of the ESO, 0<ω 0_x <2 / T s , 0<ω 0_y <2 / T s .

[0069] In the xy subspace, ESO is calculated based on the actual current value i in the xy subplane. x 、i y and control voltage u x 、u y Real-time output of xy sub-plane current estimation value z 1_x 、z 1_y and the total disturbance estimate z 2_x 、z 2_y ;z 1_x 、z 1_y With reference current The corresponding error generates the basic voltage u through the PI controller x0 、u y0 ; Then z 2_x 、z 2_y As a disturbance compensation term, it is introduced into u x0 、u y0 The compensated control voltage u is obtained x 、uy value, thereby reducing system interference and achieving harmonic sub-plane current suppression.

[0070] ESO configures the observer bandwidth ω 0_xy To adjust its tracking and suppression capabilities, feedback control and disturbance compensation are used to achieve subspace harmonic suppression. Compared with traditional PI control, ESO estimates disturbances for disturbance compensation, significantly reducing the response delay of the current loop while suppressing xy subplane harmonics. This allows the system to maintain fast tracking performance and strong robustness under parameter changes or load disturbances.

[0071] Step 4: Compensate the voltage v α 、v β 、v x 、v y Perform coordinate transformation to obtain the six-phase voltage U ABC 、U UVW .

[0072] Step 5: The six-phase voltage U obtained in step 4 ABC 、U UVW The modulation wave output by SVPWM is compared with the carrier wave to generate a PWM signal that acts on the dual-channel inverter of the motor.

[0073] The present invention provides a method for suppressing unbalanced harmonics in a dual-channel permanent magnet synchronous motor power supply based on ESO. Figure 2 From (a), it can be seen that when only the traditional PI controller is used to control the speed loop, the motor needs a response time of about 0.3s to reach the preset speed of 800r / min; Figure 2 As can be seen from (b), after adopting the ESO disturbance compensation control strategy in the speed loop, the motor only needs a response time of about 0.17s to reach the preset speed of 800r / min.

[0074] Under the operating conditions of 800r / min speed and 6N·m torque, the DC bus voltage v dc2 =100V,v dc1 At 0.14s, the voltage suddenly changes from 100V to 130V, and the phase current i A 、i U And the harmonic current i x 、i y like Figure 3 It can be seen that compared with balanced power supply, the phase current amplitudes are unequal under unbalanced power supply, and the harmonic current in the xy plane increases.

[0075] The dual-channel permanent magnet synchronous motor system operates under the operating condition of unbalanced power supply. For example, the power supply voltage of the first channel is 110V and the power supply voltage of the second channel is 100V, that is, the dual power supply voltage difference is 10V plus the phase current i before and after compensation. A 、i U And the harmonic current i x 、i y like Figure 4 It can be seen that after adding compensation, the motor phase current changes from unbalanced to balanced, and the harmonic current component is reduced.

[0076] The voltage difference between the two power supplies increases. For example, if the supply voltage of the first channel is 120V and the supply voltage of the second channel is still 100V, that is, the voltage difference between the two power supplies is 20V, then the phase current i output before and after compensation is added. A 、i U And the harmonic current i x 、i y like Figure 5 It can be seen that after adding compensation, the motor phase current changes from unbalanced to balanced, and the harmonic current component is reduced.

[0077] Continue to increase the dual power supply voltage difference to 30V. For example, if the supply voltage of the first channel is 130V and the supply voltage of the second channel is kept at 100V, add the phase current i before and after compensation. A 、i U And the harmonic current i x 、i y like Figure 6 As shown in Figure 2, it can be seen that the imbalance of the motor phase current is significantly reduced, and the harmonic current component is greatly reduced.

[0078] When the speed suddenly changes, such as Figure 7 As shown in the figure, the speed suddenly changes from 600r / min to 900r / min at 0.14s, and the output phase current can still maintain balance and the harmonics are small.

[0079] like Figure 8 As shown in FIG. 1 , the power supply voltage of the first channel suddenly changes from 110 V to 130 V at 0.14 s. It can be seen that, under the control algorithm of the present invention, the output phase current of the dual-channel permanent magnet synchronous motor can still maintain balance under the sudden change of the dual power supply voltage, and the harmonics are small, and the motor runs smoothly.

[0080] In summary, the ESO-based dual-channel permanent magnet synchronous motor power supply unbalanced harmonic suppression method proposed in the present invention has a good control effect on the system.

[0081] The ESO scheme proposed in this method is scalable and is not only applicable to dual-channel permanent magnet synchronous motors, but can also be extended to current imbalance scenarios caused by other types of asymmetry, providing a universal solution to multi-phase motors and harmonic suppression problems.

[0082] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A method for suppressing unbalanced harmonics in a dual-channel permanent magnet synchronous motor power supply based on ESO, characterized in that: include: Step 1: Collect the speed n, rotor position angle θ, and dual-channel DC bus voltage v of the dual-channel permanent magnet synchronous motor dc1 、v dc2 , and dual-channel phase current I ABC , I UVW , and use coordinate transformation to obtain the sub-plane current i d ,i q ,i x ,i y ; Step 2: In the speed loop, the speed n and the current i are correlated. q The motor speed estimation value z is obtained by online calculation using the extended state observer 1_speed and the estimated value of the total speed interference z 2_speed , replace the actual speed with the estimated value and effectively suppress the disturbance of q-axis current through compensation; Step 3: Transform the current i into the xy subspace x 、i y and the control voltage v x 、v y By observing the subspace current estimation value and the total disturbance estimation value through the extended state observer, the current estimation value is used to replace the actual current value and the total disturbance estimation value is used as the compensation value to reduce the system interference; Step 4: By performing coordinate transformation on the voltage after disturbance compensation, the six-phase voltage U is obtained. ABC 、U UVW ; Step 5: The six-phase voltage U obtained in step 4 ABC 、U UVW The modulation wave output by SVPWM is compared with the carrier wave to generate a PWM signal that acts on the dual-channel inverter of the motor.

2. The method for suppressing unbalanced harmonics in power supply of a dual-channel permanent magnet synchronous motor according to claim 1, characterized in that: In step 1, the currents of windings ABC and UVW are in a balanced state under dual-channel unbalanced power supply, but the current amplitudes between the two sets of windings are different, containing 5th, 7th, 11th, 13th, 17th, and 19th harmonics. The specific expression of the phase current is: Where, I m1 , I n1 are the fundamental amplitudes of the phase currents of windings ABC and UVW, respectively, I mh , I nh are the hth harmonic current amplitudes of winding ABC and winding UVW, respectively, h = 6k ± 1, k = 1, 2, 3, set H = {5, 7, 11, 13, 17, 19}; The sub-plane current obtained by VSD coordinate transformation is: Where i α 、i β is the fundamental sub-plane current, i x 、i y is the harmonic sub-plane current, l1 and l2 are constants and l1∈{5,7,17,19}, l2∈{1,11,13}, are the differences in the amplitudes of the l1 and l2 harmonic currents of the two sets of windings, are the sum of the l1 and l2 harmonic current amplitudes of the two sets of windings, that is, I ml1 , I ml2 are the l1 and l2 harmonic current amplitudes of winding ABC, I nl1 , I nl2 are the l1 and l2 harmonic current amplitudes of winding UVW respectively; Fundamental sub-plane current i α 、i β After TS coordinate transformation, the d-axis and q-axis currents i are obtained. d 、i q .

3. The method for suppressing unbalanced harmonics in power supply of a dual-channel permanent magnet synchronous motor according to claim 1, characterized in that: In step 2, the speed loop expansion state observer is: Where, e1 is the speed observation error; z 1_speed is the estimated motor speed, z 2_speed is the estimated value of the total speed disturbance, β 01_speed , β 02_speed are gain coefficients and are parameters that need to be adjusted; b0 is the electromagnetic torque coefficient and P is the number of pole pairs, is the permanent magnet flux, J is the moment of inertia; The pole placement method is used to adjust the parameters, and we get: Where, ω 0_speed is the bandwidth of the speed loop expansion state observer, 0<ω 0_speed <2 / T s , T s is the sampling period.

4. The method for suppressing unbalanced harmonics in power supply of a dual-channel permanent magnet synchronous motor according to claim 1, characterized in that: In step 3, the xy subspace expansion state observer is: Where, e2 is the subspace current observation error, z 1_xy is the estimated value of the current in the xy subplane, z 2_xy is the total disturbance estimate, i xy is the actual value of the harmonic current in the xy subplane, u xy is the control voltage signal, L z is the motor leakage inductance parameter, β 01_xy , β 02_xy are gain coefficients and are parameters that need to be adjusted; Use the pole placement method to perform parameter tuning: Where, ω 0_xy is the bandwidth of the xy-subspace expansion observer, 0<ω 0_xy <2 / T s .

5. The method for suppressing unbalanced harmonics in power supply of a dual-channel permanent magnet synchronous motor according to claim 3, characterized in that: In the speed loop, use z 1_speed With reference speed n * The error is used by the PI controller to generate the basic q-axis current i q0 ; z 2_speed with i q0 The difference is used as the basic q-axis reference current With current i q The difference between the two and the d-axis reference current With current i d The difference between the two is respectively generated by the PI controller to generate the q-axis voltage v q and d-axis voltage v d , and then generate the α-axis and β-axis voltage v through coordinate transformation α 、v β , which is the compensated α-β subspace control voltage value.

6. The method for suppressing unbalanced harmonics in power supply of a dual-channel permanent magnet synchronous motor according to claim 4, characterized in that: In the xy subspace, the extended state observer is respectively based on the current i x 、i y and control voltage u x 、u y Real-time output of xy sub-plane current estimation value z 1_x 、z 1_y and the total disturbance estimate z 2_x 、z 2_y ;z 1_x 、z 1_y With reference current The corresponding errors are respectively used to generate the basic voltage u through the PI controller x0 、u y0 ; Then z 2_x 、z 2_y As a disturbance compensation term, it is introduced into u x0 、u y0 The compensated xy subspace control voltage u is obtained x 、u y value.

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