IPMSM position estimation method and system based on rotating high-frequency injection

Abstract

This invention discloses an IPMSM position estimation method and system based on rotating high-frequency injection, comprising: (1) injecting a high-frequency voltage signal into the stationary α-β coordinate axis of the motor; (2) sampling the three-phase current and obtaining the two-phase stationary coordinate system through Clark transformation; (3) obtaining the fundamental current through a notch filter; (4) obtaining the high-frequency response current of the stationary α-β coordinate axis; (5) rotating the transformation and obtaining the high-frequency response negative sequence current through low-pass filtering; (6) designing and modulating the compensation phase; (7) cross-multiplying the compensation phase vector with the modulated compensation phase vector to obtain the estimated angular velocity and rotor position of the motor. This invention uses a notch filter to process the signal, eliminating the band-stop filter in the d-axis and q-axis current feedback loop in the control loop, thus simplifying the system complexity; by compensating for the rotor position lag angle, it increases the system stability and improves the rotor position identification accuracy.

Description

Technical Field

[0001] This invention relates to an IPMSM position estimation method and system, and more particularly to an IPMSM position estimation method and system based on rotating high-frequency injection. Background Technology

[0002] Built-in permanent magnet synchronous motors (IPMSMs) are widely used due to their high efficiency, high power density, and high torque-to-inertia ratio. In applications such as washing machines and power tools in household appliances, the working environment is harsh, and the requirements for the control performance of IPMSMs in zero-speed full-load start-up and low-speed high-torque operation are increasingly demanding. Vector control using sensorless control technology is suitable for these applications. Conventional V / F or I / F open-loop starting methods are difficult to achieve stable zero-speed full-load start-up, while high-frequency injection methods, suitable for low-speed or zero-speed operation, are continuously being improved by researchers.

[0003] Sensorless control technology can be broadly categorized into two types based on the applicable speed range. One type is based on the fundamental mathematical model of the motor, commonly using methods such as direct calculation using the motor model and model reference adaptive methods. Because it relies on the motor's resistance and inductance parameters to estimate the rotor back electromotive force or flux linkage, it is only suitable for medium- to high-speed operation. The other type is based on the detection of the motor's rotor salient poles. This method utilizes the salient pole effect caused by the motor's own salient poles or magnet saturation, estimating the rotor position based on the characteristic that the spatial distribution of inductance changes with the rotor position due to the salient polarity of the magnetic circuit. This is suitable for low-speed or zero-speed operation. A typical method is the high-frequency injection method, which is further divided into square wave high-frequency injection, pulsed high-frequency injection, and rotating high-frequency injection methods depending on the injected high-frequency signal. The square wave high-frequency injection method is simple in principle, easy to implement in engineering, and has low torque ripple, but it suffers from significant high-frequency losses and noise, and carries the risk of convergence errors. The pulsed high-frequency injection method is sensitive to observer parameters and speed rise slope parameters, making debugging difficult and carrying the risk of divergence. The rotating high-frequency injection method has good stability, a complex structure, but is easy to implement and debug in engineering. IPMSM motors have a high saliency ratio and a significant saliency effect, making them suitable for use with the rotating high-frequency injection method.

[0004] Existing angle compensation technologies directly add an error amount after the phase-locked loop, and all of them ignore the influence of stator resistance on the estimation of the rotor position by high-frequency injection.

[0005] Patent CN109889117B discloses an IPMSM position observation method, system, and drive system based on the rotating high-frequency injection method. The problems with this technical solution are: at least a band-stop filter and a band-pass filter are used in the signal extraction process; positive and negative high-frequency current signals need to be extracted separately, which results in a large amount of computation in the extraction process; and the rotor position obtained by the phase-locked loop is directly compensated for by angle, which poses a risk to the stability of the system. Summary of the Invention

[0006] Purpose of the invention: The first purpose of this invention is to provide an IPMSM position estimation method based on rotating high-frequency injection, which solves the problem of the influence of stator resistance and filter delay on the rotor position estimation of rotating high-frequency injection in sensorless motors.

[0007] The second objective of this invention is to provide an IPMSM position estimation system based on rotary high-frequency injection, which addresses the impact of stator resistance and filter delay on rotor position estimation in sensorless motors.

[0008] Technical Solution: To achieve the above objectives, this invention discloses an IPMSM position estimation method based on rotational high-frequency injection, comprising the following steps:

[0009] (1) Inject high-frequency voltage signals into the stationary coordinate axes α-β of the motor. and

[0010] (2) Sample motor three-phase current i a i b i c And the stationary coordinate axes α-β are obtained by Clark transformation. and

[0011] (3) The fundamental current is obtained by notch filtering. and Then, after Park transformation, we obtain... and

[0012] (4) By Obtain the high-frequency response current of the stationary coordinate axes α-β Depend on Obtain the high-frequency response current of the stationary coordinate axes α-β

[0013] (5) High-frequency response current and conduct The process involves rotational transformation, followed by low-pass filtering to obtain the high-frequency response negative sequence current. and

[0014] (6) Design and modulate the compensated phase;

[0015] (7) High-frequency response negative sequence current and The angular velocity of the motor is estimated by cross-multiplying the compensated phase modulation signal vector and passing through the fourth regulator of the phase-locked loop. Then, the rotor position is estimated by passing through the integrator of the phase-locked loop.

[0016] Among them, the high-frequency voltage signal in step (1) and The expression is as follows:

[0017]

[0018] Among them, U h ω represents the amplitude of the high-frequency injection voltage. h Here, ω represents the angular frequency of the high-frequency voltage injection, and t represents the time of the high-frequency voltage injection signal.

[0019] Preferably, in step (4), the high-frequency response current and The vector expression is:

[0020]

[0021] Where K0 and K1 are notch filters at frequency ω h ω h -2ω r The attenuation factor of the time filter; For a notch filter at a frequency of ω h ω h -2ω r Time-delayed phase, θ r This indicates the rotor position.

[0022] Furthermore, the high-frequency response current in step (5) and through After rotation transformation:

[0023]

[0024] The negative sequence current component of the high-frequency response current is obtained after low-pass filtering:

[0025]

[0026] Furthermore, the compensation phase design in step (6) is as follows:

[0027]

[0028] in, Phase hysteresis is caused by the notch filter at frequency ω. h -2ω r The decision is made by looking up a table; r s L is the resistance of the stator phase winding of the motor.d L q These are the stator inductances of the motor on the d and q axes, respectively, ω r The rotor angular velocity is ; the modulation signal for compensating the phase is . This is the estimated rotor position.

[0029] Preferably, in step (7), the high-frequency response negative sequence current and The phase-locked loop error is obtained by vector cross product of the modulated compensated phase:

[0030]

[0031] Where Δθ is the phase-locked error, Δθ r The position error; the phase-locked loop error is used to obtain the rotor angular velocity estimate through the fourth regulator of the phase-locked loop. Then, the rotor position estimate is obtained through the integrator unit.

[0032]

[0033] Among them, K p K is the proportional parameter of the phase-locked loop. i Let S be the integral parameter of the phase-locked loop, and S be the Laplace operator.

[0034] This invention discloses an IPMSM position estimation system based on rotating high-frequency injection, including a high-frequency response current extraction module, a negative sequence current extraction module, a modulation signal compensation module, a vector cross product module, and a phase-locked loop module;

[0035] The high-frequency response current extraction module extracts the motor's three-phase current i based on the collected data. a i b i c Obtain the high-frequency response current of the stationary coordinate axes α-β and

[0036] The negative sequence current extraction module is based on the high-frequency response current. and Obtain high-frequency response negative sequence current and

[0037] The modulation signal compensation module will compensate for the phase modulation and output the real and imaginary parts of the compensated phase modulation signal;

[0038] The vector cross product module will respond to the high-frequency negative sequence current. and The phase-locked loop error is obtained by cross product of the compensated phase modulation signal vector;

[0039] The phase-locked loop (PLL) module obtains the rotor angular velocity estimate based on the PLL error. and rotor position estimate

[0040] The high-frequency response current extraction module includes a Clark transform unit, a notch filter unit, and a Park transform unit. This module extracts the collected three-phase motor current i... a i b i c The stationary coordinate axes α-β are obtained through Clark transformation unit. and and The fundamental current is obtained by filtering with a notch filter unit. and fundamental current and Then it is obtained through the park transformation unit. and Depend on Obtain the high-frequency response current of the stationary coordinate axes α-β Depend on Obtain the high-frequency response current of the stationary coordinate axes α-β

[0041] High-frequency response current and The vector expression is:

[0042]

[0043] Where K0 and K1 are the notch filters at frequency ω h ω h -2ω r The attenuation factor of the time filter, For a notch filter at a frequency of ω h ω h -2ω r Time-delayed phase, θ r This indicates the rotor position.

[0044] Preferably, the negative sequence current extraction module includes Rotating unit and low-pass filter unit, negative sequence current extraction module to extract high frequency response current and pass Rotating unit performs The process involves rotational transformation, followed by low-pass filtering to obtain the high-frequency response negative sequence current. and

[0045] Furthermore, the compensation phase designed in the signal compensation module is adjusted as follows:

[0046]

[0047] The lag phase It is a notch filter at frequency ω h -2ω r The decision was made by looking up a table; s L is the resistance of the stator phase winding of the motor. d L q These are the stator inductances of the motor on the d and q axes, respectively, ω r The rotor angular velocity; the modulation signal for compensating the phase is designed as follows: This is the rotor position estimate; the modulation signal compensation module finally outputs the real part of the compensated phase modulation signal. and the virtual part

[0048] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages:

[0049] (1) When realizing zero-speed and low-speed position identification, the signal processing by notch filter eliminates the band-stop filter of the d-axis and q-axis current feedback loop in the control loop, simplifying the system complexity.

[0050] (2) Considering the influence of stator resistance and filter on the estimation of high-frequency injection position of rotation, the rotor position lag is compensated by compensating the modulation signal to increase the system stability and improve the accuracy of motor rotor position identification. Attached Figure Description

[0051] Figure 1 This is a schematic diagram of the structure of the present invention;

[0052] Figure 2 This is a phase frequency response curve of the notch filter of the present invention. Detailed Implementation

[0053] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0054] like Figure 1 As shown, the IPMSM control system based on rotating high-frequency injection includes a first comparator, a first regulator, a current distribution module, a second comparator, a second regulator, a third comparator, a third regulator, an anti-Park module, a first adder, a second adder, a motor position estimation system, SVPWM, a VSI inverter, and an IPMSM. The first regulator, the second regulator, and the third regulator all use PI controllers.

[0055] The first comparator is used to convert the angular velocity The estimated value and the reference angular velocity ω r *The first regulator is used to adjust the difference obtained from the first comparator and output a reference current. Reference current After passing through the current distribution module, the reference current in the dq coordinate system is obtained. and The second comparator is used to input the d-axis reference current. Fundamental frequency feedback current with d-axis The second regulator is used to adjust the d-axis current error obtained from the second comparator and output the d-axis voltage reference value. The third comparator is used to convert the q-axis reference current. With q-axis fundamental frequency feedback current The third regulator is used to output the q-axis voltage reference value after the q-axis current error obtained from the third comparator is adjusted by a PI controller. The inverse Park module is used to estimate the reference voltage in the synchronous rotating coordinate system. and Reference voltage u converted to stationary coordinate system α * and u β *; Reference voltage u α *With high-frequency voltage signals The reference voltage u is added together by the first adder. β *With high-frequency voltage signals The values ​​are added together by a second adder; the SVPWM module is used to perform space vector pulse width modulation on the output values ​​of the first and second adders, and output a PWM wave to the inverter, which drives the IPMSM.

[0056] The coordinate transformation in the inverse Park module requires the position θ of the motor rotor. r In the absence of a position sensor, the position θ of the motor rotor r It cannot be obtained by direct measurement, but can only be estimated using estimation methods. Then, the position estimation of the motor rotor is used. The values ​​are substituted into the coordinate transformation. Therefore, this invention estimates the position of the motor rotor. I conducted research.

[0057] This invention is based on a rotating high-frequency injection IPMSM position estimation system, namely a motor position estimation system, which includes a high-frequency response current extraction module, a negative sequence current extraction module, an adjustment signal compensation module, a vector cross product module, and a phase-locked loop module.

[0058] The high-frequency response current extraction module includes a Clark transform unit, a notch filter unit, and a Park transform unit. The high-frequency response current extraction module will collect the three-phase motor current i... a i b ic The stationary coordinate axes α-β are obtained through Clark transformation unit. and and The fundamental current is obtained by filtering with a notch filter unit. and fundamental current and Obtained through the Park transform unit and Then it is sent to the second and third comparators; by Obtain the high-frequency response current of the stationary coordinate axes α-β Depend on Obtain the high-frequency response current of the stationary coordinate axes α-β

[0059] Make high frequency response current and The vector expression is:

[0060]

[0061] Among them, I cp_r I cn_r These are the amplitudes of the positive-sequence and negative-sequence high-frequency current components, respectively. θ represents the lag phase caused by the stator resistance in the positive and negative sequences, respectively. r Rotor position;

[0062] When considering the effect of digital filter delay during high-frequency signal extraction, the high-frequency response current... and The vector expression becomes:

[0063]

[0064] Where K0 and K1 are notch filters at frequency ω h ω h -2ω r The attenuation factor of the time filter, For a notch filter at a frequency of ω h ω h -2ω r Lag phase.

[0065] The negative sequence current extraction module includes Rotating unit and low-pass filter (LPF) unit, negative sequence current extraction module to extract high frequency response current and conduct The process involves rotational transformation, followed by low-pass filtering to obtain the high-frequency response negative sequence current. and

[0066] The modulation signal compensation module will compensate for the phase modulation. The designed compensation phase is:

[0067]

[0068] in, The phase lag is caused by the notch filter at frequency ω. h -2ω r The decision was made by looking up a table, r s L is the resistance of the stator phase winding of the motor. d L q These are the stator inductances of the motor on the d and q axes, respectively, ω r This refers to the rotor angular velocity;

[0069] The modulation signal for phase compensation is designed as follows: For the rotor position estimate, the expression, expanded using Euler's formula, is:

[0070]

[0071] The modulation signal compensation module finally outputs the real part of the compensated phase-modulated signal. and the virtual part

[0072] The vector cross product module will respond to the high-frequency negative sequence current. and The phase-locked loop error is obtained by cross-product of the compensated phase modulation signal vector and the vector cross-product.

[0073]

[0074] Where Δθ is the phase-locked loop error, Δθ r This represents the positional error.

[0075] The phase-locked loop (PLL) module includes a fourth regulator and an integrator unit. In this embodiment, the fourth regulator is a PI controller. The PLL error in the PLL module is processed by the PI controller to obtain the estimated angular velocity of the rotor. The estimated position of the rotor is then obtained through the integrator.

[0076]

[0077] Among them, K p K is the proportional parameter of the phase-locked loop (PLL). i S represents the integral parameter of the phase-locked loop (PLL), and S is the Laplace operator.

[0078] This invention discloses an IPMSM position estimation method based on rotational high-frequency injection, comprising the following steps:

[0079] (1) After the motor completes the initial position detection, a high-frequency voltage signal is injected into the stationary α-β coordinate system of the motor. and The expression is as follows:

[0080]

[0081] Among them, U h ω represents the amplitude of the high-frequency injection voltage. h Here, ω represents the angular frequency of the high-frequency voltage injection signal, and t represents the time of the high-frequency voltage injection signal.

[0082] (2) Sample motor three-phase current i a i b i c After Clark transformation, the two-phase stationary coordinate system is obtained. and The specific transformation formula is as follows:

[0083]

[0084] In this embodiment, the current i is obtained by sampling using two-phase sampling resistors. a Current i b , synthesized current i c ;

[0085] (3) Removed by a notch filter and The fundamental current is obtained from the high-frequency response current. and Then, after Park transformation, we obtain... and As the feedback signal for the current closed loop, the Park transformation formula is:

[0086]

[0087] In the formula, This is the estimated rotor position.

[0088] (4) By Obtain the high-frequency response current on the stationary coordinate axes α-β Depend on Obtain the high-frequency response current on the stationary coordinate axes α-β

[0089] Make high frequency response current and Vector expression:

[0090]

[0091] Among them, Icp_r I cn_r These are the amplitudes of the positive-sequence and negative-sequence high-frequency current components, respectively. These are the angular phase lags caused by the stator resistance in the positive and negative sequences, respectively.

[0092] In this embodiment, considering the effect of digital filter delay during high-frequency signal extraction, the positive sequence component angular frequency of the high-frequency response current is ω during steady-state operation of the motor. h The angular frequency of the negative-order component is ω h -2ω r The expression for the high-frequency response current (1) becomes:

[0093]

[0094] Where K0 and K1 are notch filters at frequency ω h ω h -2ω r The attenuation factor of the time filter, For a notch filter at a frequency of ω h ω h -2ω r Time lag phase;

[0095] (5) High-frequency response current and conduct Rotational transformation converts high-frequency negative-sequence current into a low-frequency quantity, and positive-sequence current into twice the ω value. h The high-frequency quantity t is then obtained by low-pass filtering to obtain the high-frequency response negative sequence current. and

[0096] through After rotation transformation matrix:

[0097]

[0098] The negative sequence current component of the high-frequency response current is obtained after low-pass filtering:

[0099]

[0100] That is:

[0101]

[0102] (6) Design and modulate the compensated phase;

[0103] The designed compensation phase is:

[0104]

[0105] in, Phase hysteresis is caused by the notch filter at frequency ω. h -2ω r The decision was made by the department. The table is used to look up the compensated phase.

[0106] The compensated phase modulation signal is designed as follows: Finally, the real part of the compensated phase modulation signal is output. and the virtual part

[0107] (7) High-frequency response negative sequence current The angular velocity of the motor rotor is estimated by cross product with the compensation phase modulation signal vector and then passed through the fourth regulator of the phase-locked loop. Finally, the rotor position is estimated by the integrator unit.

[0108] The phase-locked loop error is obtained through vector cross product:

[0109]

[0110] Where Δθ is the phase-locked error, Δθ r This refers to the positional error;

[0111] Rotor angular velocity estimate and rotor position estimate

[0112]

[0113] Among them, K p K is the proportional parameter of the phase-locked loop (PLL). i S represents the integral parameter of the phase-locked loop (PLL), and S is the Laplace operator.

[0114] In this embodiment, the frequency of the high-frequency injection signal is 0.5 kHz, and the PWM carrier frequency for motor control is 16 kHz. A notch filter with a sampling frequency of 16 kHz, a center frequency of 0.5 kHz, and Q=3 is designed, and its phase response is as follows. Figure 2 As shown. For the rotating high-frequency injection method, the fundamental frequency of the motor operation is much lower than the frequency of the high-frequency injection signal. Therefore, the notch filter phase compensation angle only needs to consider the portion below the center frequency. Figure 2 The actual phase delay of the notch filter can be obtained by looking up the table at the fundamental frequency of 0-0.5kHz.

Claims

1. A position estimation method for IPMSM based on rotational high-frequency injection, characterized in that: Includes the following steps: (1) To the stationary coordinate axis of the motor Inject high-frequency voltage signal and ; (2) Sample the three-phase current of the motor , , The stationary coordinate axes were obtained by Clark transformation. of and ; (3) , The fundamental current is obtained by filtering with a notch filter. and Then, through the Park transformation, we obtain... and ; (4) By - Obtain the stationary coordinate axis High-frequency response current ,Depend on - Obtain the stationary coordinate axis High-frequency response current ; (5) High-frequency response current and conduct The process involves rotational transformation, followed by low-pass filtering to obtain the high-frequency response negative sequence current. and ; (6) Based on the hysteresis phase caused by the stator resistance in the high-frequency response negative sequence current and lag phase Design compensation phase And modulate the hysteresis phase The notch filter is used to detect the angular frequency of the negative sequence current at a high frequency response. The decision was made by the relevant department; The compensation phase design in step (6) is as follows: ， in, Phase hysteresis is caused by the notch filter at a certain frequency. The decision is made by consulting a table; The resistance of the stator phase winding of the motor. , These are the stator inductances of the motor on the d and q axes, respectively. The rotor angular velocity is ; the modulation signal for compensating the phase is . , This is the rotor position estimate. The angular phase lag is caused by the influence of stator resistance in the negative sequence. (7) High-frequency response negative sequence current and The angular velocity of the motor is estimated by cross-multiplying the compensated phase modulation signal vector and passing through the fourth regulator of the phase-locked loop. Then, the rotor position is estimated by passing through the integrator of the phase-locked loop.

2. The IPMSM position estimation method based on rotational high-frequency injection according to claim 1, characterized in that: In step (1), the high-frequency voltage signal and The expression is as follows: ， in, For high-frequency injection voltage amplitude, Here, ω represents the angular frequency of the high-frequency voltage injection, and t represents the time of the high-frequency voltage injection signal.

3. The IPMSM position estimation method based on rotational high-frequency injection according to claim 1, characterized in that: In step (4), the high-frequency response current and The vector expression is: ， in, , For notch filters at a frequency of , The attenuation factor of the time filter; , For notch filters at a frequency of , Time lag phase, Rotor position; , These are the amplitudes of the positive-sequence and negative-sequence high-frequency current components, respectively. , These are the angular phase lags caused by the stator resistance in the positive and negative sequences, respectively.

4. The IPMSM position estimation method based on rotational high-frequency injection according to claim 1, characterized in that: In step (5), the high-frequency response current and through After rotation transformation: ， The negative sequence current component of the high-frequency response current is obtained after low-pass filtering: ， , These are the amplitudes of the positive-sequence and negative-sequence high-frequency current components, respectively. , These are the angular phase lags caused by the stator resistance in the positive and negative sequences, respectively.

5. The IPMSM position estimation method based on rotational high-frequency injection according to claim 1, characterized in that: In step (7), the high-frequency response negative sequence current and The phase-locked loop error is obtained by vector cross product of the modulated compensated phase: ， in, For phase-locked loop error, For positional error, This represents the amplitude of the negative-sequence high-frequency current component. The angular phase lag is caused by the stator resistance in the negative sequence; the phase-locked loop error is used to obtain the rotor angular velocity estimate through the fourth regulator of the phase-locked loop. Then, the rotor position estimate is obtained through the integrator unit. : ， in, These are the proportional parameters of the phase-locked loop. Let S be the integral parameter of the phase-locked loop, and S be the Laplace operator.

6. A position estimation system based on rotational high-frequency injection (IPMSM), characterized in that: It includes a high-frequency response current extraction module, a negative sequence current extraction module, a modulation signal compensation module, a vector cross product module, and a phase-locked loop module; The high-frequency response current extraction module extracts the current based on the collected three-phase current of the motor. , , Obtain the stationary coordinate axis High-frequency response current and ; The negative sequence current extraction module is based on the high-frequency response current. and Obtain high-frequency response negative sequence current and ; The modulation signal compensation module compensates for the hysteresis phase caused by the stator resistance in the high-frequency response negative sequence current. and lag phase Design compensation phase And modulate the hysteresis phase The notch filter is used to detect the angular frequency of the negative sequence current at a high frequency response. The real and imaginary parts of the output compensated phase modulation signal are determined by the location; The compensation phase is designed as follows: ， in, Phase hysteresis is caused by the notch filter at a certain frequency. The decision is made by consulting a table; The resistance of the stator phase winding of the motor. , These are the stator inductances of the motor on the d and q axes, respectively. The rotor angular velocity is ; the modulation signal for compensating the phase is . , This is the rotor position estimate. The angular phase lag is caused by the influence of stator resistance in the negative sequence. The vector cross product module will respond to the high-frequency negative sequence current. and The phase-locked loop error is obtained by cross product of the compensated phase modulation signal vector; The phase-locked loop module obtains the rotor angular velocity estimate based on the phase-locked loop error. and rotor position estimate .

7. The IPMSM position estimation system based on rotational high-frequency injection according to claim 6, characterized in that: The high-frequency response current extraction module includes a Clark transform unit, a notch filter unit, and a Park transform unit. The high-frequency response current extraction module collects the three-phase current of the motor. , , The stationary coordinate axes are obtained through Clark transformation units. of and ; and The fundamental current is obtained by filtering with a notch filter unit. and ; the fundamental current and Then, it is obtained through the park transformation unit. and ;Depend on - Obtain the stationary coordinate axis High-frequency response current ,Depend on - Obtain the stationary coordinate axis High-frequency response current ; High-frequency response current and The vector expression is: ， in, , For notch filters at a frequency of , The attenuation factor of the time filter, , For notch filters at a frequency of , Time lag phase, For rotor position, , These are the amplitudes of the positive-sequence and negative-sequence high-frequency current components, respectively. , These are the angular phase lags caused by the stator resistance in the positive and negative sequences, respectively.

8. The IPMSM position estimation system based on rotational high-frequency injection according to claim 6, characterized in that: The negative sequence current extraction module includes Rotating unit and low-pass filter unit, negative sequence current extraction module to extract high frequency response current and pass Rotating unit performs The process involves rotational transformation, followed by low-pass filtering to obtain the high-frequency response negative sequence current. and .

9. The IPMSM position estimation system based on rotational high-frequency injection according to claim 6, characterized in that: The compensation phase designed in the modulation signal compensation module is: ， The lag phase It is a notch filter at a certain frequency The decision was made by consulting a table. The resistance of the stator phase winding of the motor. , These are the stator inductances of the motor on the d and q axes, respectively. The rotor angular velocity; the modulation signal for compensating the phase is designed as follows: , This is the rotor position estimate; the modulation signal compensation module finally outputs the real part of the compensated phase modulation signal. and the virtual part , The angular phase lag is caused by the influence of stator resistance in the negative sequence.

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