A method, device, equipment and medium for suppressing back electromotive force harmonics of a motor

Abstract

The present invention discloses a method, device, equipment, and medium for suppressing motor back-electromotive force harmonics. The method includes: obtaining the three-way back-electromotive force of a synchronous motor; transforming the three-way back-electromotive force to obtain a direct-axis back-electromotive force and a quadrature-axis back-electromotive force; performing a Fourier transform on the quadrature-axis back-electromotive force and extracting the amplitude, frequency, and initial phase of each order harmonic of the quadrature-axis back-electromotive force; reconstructing each order harmonic of the quadrature-axis current based on the amplitude, frequency, and initial phase of each order harmonic of the quadrature-axis back-electromotive force; superimposing each order harmonic of the quadrature-axis current to obtain a reconstructed quadrature-axis current; and injecting the reconstructed quadrature-axis current into the quadrature-axis back-electromotive force to obtain the original torque representation value. This solution achieves suppression of motor back-electromotive force harmonics, with excellent harmonic suppression effect.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of motor technology, and in particular to a method, device, equipment, and medium for suppressing motor back electromotive force harmonics. Background Art

[0002] Permanent magnet synchronous motors (PMSMs) offer advantages such as compact structure, high power density, high air gap flux, and a high torque-to-inertia ratio. They are widely used in electric vehicle drive systems. The smoothness of motor output torque is a key performance metric for these systems, and higher-order harmonics in the motor current are the primary factor affecting this smoothness. Motor current harmonics are primarily caused by two factors: the first is the motor itself, such as air gap magnetic field distortion caused by cogging, winding distribution, magnetic saturation effects, and rotor pole structure; the second is the inverter, such as nonlinear characteristics such as the voltage drop during the dead time of switching devices.

[0003] Focusing on two factors that influence low-order current harmonics, domestic and international researchers have conducted research on current harmonic suppression, aiming to improve the sinusoidality of the current waveform. First, from the motor perspective, improvements and optimizations to the motor's structural structure, primarily through slot or pole skewing, optimized permanent magnet shape, stator winding type, and magnetic circuit optimization, aim to reduce back-EMF distortion and harmonic content. Second, from the perspective of system control strategies, harmonic compensation algorithms are used to suppress current harmonics. Key current harmonic suppression methods include harmonic voltage compensation multi-rotor PI control, proportional resonant (PR) control, complex vector PI (CVPI) control, repetitive control (RC), and iterative learning control. Multi-rotor PI controllers offer good harmonic suppression, but require multiple PI controllers, making parameter tuning difficult. Proportional resonant controllers can achieve zero-offset tracking of sinusoidal quantities, but parameter tuning is challenging. Complex vector PI control can effectively simplify system control complexity and improve system response and stability by increasing controller bandwidth, but this also results in gain reduction. Repetitive control, derived from the internal model principle in control theory, can suppress integer multiple harmonics of a given frequency. However, due to the delay element included in the controller, the frequency of the disturbance signal varies during transients, resulting in slow regulation. Iterative learning control, on the other hand, utilizes the periodic deviation of torque to memorize and perform non-online corrections to the given current value, thereby suppressing current harmonics and, in turn, torque ripple. However, in actual motor control systems, motor speed constantly changes, making it difficult to achieve optimal error compensation signal output despite speed changes through iterative learning. Furthermore, this approach typically requires a relatively accurate torque signal, placing high demands on the controller. Summary of the Invention

[0004] The present invention provides a method, device, equipment and medium for suppressing motor back electromotive force harmonics, which can effectively suppress motor back electromotive force harmonics. The implementation method is simple and practical, and has low requirements for the controller.

[0005] In a first aspect, an embodiment of the present invention provides a method for suppressing back electromotive force harmonics of a motor, the method comprising:

[0006] Obtain the three-phase back electromotive force of the synchronous motor;

[0007] Transforming the three-axis back electromotive force to obtain a direct-axis back electromotive force and a quadrature-axis back electromotive force;

[0008] Performing Fourier transform on the quadrature-axis back electromotive force, and extracting the amplitude, frequency and initial phase of each order harmonic of the quadrature-axis back electromotive force;

[0009] reconstructing each order harmonic of the quadrature-axis current according to the amplitude, frequency and initial phase of each order harmonic of the quadrature-axis back electromotive force;

[0010] superimposing harmonics of each order of the quadrature-axis current to obtain a reconstructed quadrature-axis current;

[0011] The reconstructed quadrature-axis current is injected into the quadrature-axis back electromotive force to obtain the original torque representation value.

[0012] Optionally, the proportion of each order harmonic of the quadrature-axis current is the same as the proportion of each order harmonic of the quadrature-axis back electromotive force;

[0013] The initial phase of each order harmonic of the quadrature-axis current differs from the initial phase of the quadrature-axis back electromotive force by 180°;

[0014] The frequencies of the harmonics of each order of the quadrature-axis current are the same as the frequencies of the harmonics of each order of the quadrature-axis back electromotive force.

[0015] Optionally, transforming the three-axis back electromotive force to obtain a direct-axis back electromotive force and a quadrature-axis back electromotive force includes:

[0016] Performing Clarke transformation on the three-axis back electromotive force to obtain α-axis back electromotive force and β-axis back electromotive force;

[0017] Park transformation is performed on the α-axis back electromotive force and the β-axis back electromotive force to obtain the direct-axis back electromotive force and the quadrature-axis back electromotive force.

[0018] Optionally, injecting the reconstructed quadrature-axis current into the quadrature-axis back electromotive force to obtain an original torque representation value includes:

[0019] The reconstructed quadrature-axis current is multiplied by the quadrature-axis back electromotive force to obtain an original torque representation value.

[0020] In a second aspect, an embodiment of the present invention further provides a device for suppressing back electromotive force harmonics of a motor, the device comprising:

[0021] An acquisition module is used to obtain the three-phase back electromotive force of the synchronous motor;

[0022] A conversion module, used for converting the three-axis back electromotive force into a direct-axis back electromotive force and a quadrature-axis back electromotive force;

[0023] an extraction module, configured to perform Fourier transform on the quadrature-axis back electromotive force and extract the amplitude, frequency and initial phase of each order harmonic of the quadrature-axis back electromotive force;

[0024] A reconstruction module, configured to reconstruct harmonics of each order of the quadrature-axis current according to the amplitude, frequency and initial phase of each order of the harmonics of the quadrature-axis back electromotive force;

[0025] A quadrature-axis current reconstructing module is used to superimpose harmonics of each order of the quadrature-axis current to obtain a reconstructed quadrature-axis current;

[0026] The injection module is used to inject the reconstructed quadrature-axis current into the quadrature-axis back electromotive force to obtain an original torque representation value.

[0027] Optionally, the proportion of each order harmonic of the quadrature-axis current is the same as the proportion of each order harmonic of the quadrature-axis back electromotive force;

[0028] The initial phase of each order harmonic of the quadrature-axis current differs from the initial phase of the quadrature-axis back electromotive force by 180°;

[0029] The frequencies of the harmonics of each order of the quadrature-axis current are the same as the frequencies of the harmonics of each order of the direct-axis back electromotive force.

[0030] Optionally, the transformation module includes:

[0031] A first conversion unit is used to perform Clarke transformation on the three-axis back electromotive force to obtain an α-axis back electromotive force and a β-axis back electromotive force;

[0032] The second conversion unit is used to perform park conversion on the α-axis back electromotive force and the β-axis back electromotive force to obtain a direct-axis back electromotive force and a quadrature-axis back electromotive force.

[0033] Optionally, the injection module is specifically used to:

[0034] The reconstructed quadrature-axis current is multiplied by the quadrature-axis back electromotive force to obtain an original voltage representation value.

[0035] In a third aspect, an embodiment of the present invention further provides a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for suppressing motor back electromotive force harmonics as described in the first aspect above is implemented.

[0036] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the motor back electromotive force harmonic suppression method described in the first aspect above.

[0037] In an embodiment of the present invention, the three-way back electromotive force of the synchronous motor is obtained; the three-way back electromotive force is transformed to obtain the direct-axis back electromotive force and the quadrature-axis back electromotive force; the quadrature-axis back electromotive force is Fourier transformed, and the amplitude, frequency and initial phase of each order harmonic of the quadrature-axis back electromotive force are extracted; then, the each order harmonic of the quadrature-axis current is reconstructed according to the amplitude, frequency and initial phase of each order harmonic of the quadrature-axis back electromotive force; the each order harmonic of the quadrature-axis current is superimposed to obtain the reconstructed quadrature-axis current; and finally, the reconstructed quadrature-axis current is injected into the quadrature-axis back electromotive force to obtain the original torque characterization value. In this way, the present scheme well achieves the suppression of the harmonics of the motor back electromotive force, and the harmonic suppression effect is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a flow chart of a method for suppressing back electromotive force harmonics of a motor provided by an embodiment of the present invention;

[0039] Figure 2 is a flow chart of another method for suppressing back electromotive force harmonics of a motor provided by an embodiment of the present invention;

[0040] Figure 3 This is a structural block diagram of a motor back electromotive force harmonic suppression device provided by an embodiment of the present invention;

[0041] Figure 4 A schematic structural diagram of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0043] Figure 1 1 is a flow chart of a method for suppressing motor back electromotive force harmonics provided by an embodiment of the present invention. This embodiment is applicable to the case of suppressing motor back electromotive force harmonics. The method can be performed by a motor back electromotive force harmonic suppression device and specifically includes the following steps:

[0044] S110 , obtaining the three-phase back electromotive force of the synchronous motor.

[0045] Among them, the three-phase back electromotive force of the synchronous motor can be obtained by the line back electromotive force u between the U, V, and W phases obtained by the voltage measuring instrument. ab 、u bc and u ca Specifically, the three-phase back electromotive force u of the synchronous motor can be obtained according to the following formula (1): a 、u b and u c ;

[0046]

[0047] Therefore, the three-phase back electromotive force u of the synchronous motor is a for (u ab -u ca ) / 3、u b for (u bc -u ab ) / 3;u c for (u ca -u bc ) / 3.

[0048] S120, transform the three-axis back electromotive force to obtain the direct-axis back electromotive force and the quadrature-axis back electromotive force.

[0049] Among them, the three-phase back electromotive force u a 、u b and u c Transform to obtain the direct axis back electromotive force u in the dp coordinate system q and quadrature axis back electromotive force u d The quadrature-axis back electromotive force is then directly Fourier transformed.

[0050] S130 , performing Fourier transform on the quadrature-axis back electromotive force, and extracting the amplitude, frequency, and initial phase of each order harmonic of the quadrature-axis back electromotive force.

[0051] Among them, the quadrature axis back electromotive force u q Generally, the harmonic components will increase due to factors such as the motor body, such as the cogging effect, winding distribution, magnetic circuit magnetic saturation effect, rotor pole structure, etc., which cause the motor air gap magnetic field distortion. This solution can use the Fourier function to calculate the quadrature axis back electromotive force u q Perform Fourier transform, for example, the quadrature-axis back electromotive force u q After Fourier transform, we get From this we can get the quadrature-axis back electromotive force u q The amplitude of the fundamental wave is u1, the frequency is pw, and the initial phase h is the order, and the amplitude of each order harmonic is u h , the frequency of each order harmonic is w, the initial phase of each order harmonic is

[0052] S140 , reconstructing each order harmonic of the quadrature-axis current according to the amplitude, frequency, and initial phase of each order harmonic of the quadrature-axis back electromotive force.

[0053] The principles for reconstructing the harmonics of the quadrature-axis current are as follows: the proportion of the harmonics of the quadrature-axis current is the same as the proportion of the harmonics of the quadrature-axis back electromotive force; the initial phase of the harmonics of the quadrature-axis current is 180° different from the initial phase of the quadrature-axis back electromotive force; and the frequency of the harmonics of the quadrature-axis current is the same as the frequency of the quadrature-axis back electromotive force. For example, the reconstructed harmonics of the quadrature-axis current are: Where h is the order, and the initial phase of the reconstructed quadrature-axis current is The frequency of the reconstructed quadrature axis current is w, and the amplitude of the reconstructed quadrature axis current is i. h ; The amplitude of each order of the reconstructed quadrature axis current i h Satisfy the amplitude u of each order harmonic of the quadrature axis back electromotive force h The harmonic proportions of the reconstructed quadrature-axis current are the same, that is, the amplitudes of the various orders of the reconstructed quadrature-axis current i h The ratio of the square root of the amplitude of each order, the amplitude of each order harmonic of the quadrature axis back electromotive force u h The ratio of the square root of the amplitude of each order is the same.

[0054] S150 , superimposing harmonics of the direct-axis current to obtain a reconstructed quadrature-axis current.

[0055] Among them, the reconstructed quadrature-axis current obtained by superimposing the harmonics of each order of the quadrature-axis current is:

[0056] S160 , injecting the reconstructed quadrature-axis current into the quadrature-axis back electromotive force to obtain an original torque representation value.

[0057] Among them, the quadrature axis current i q Injected into the quadrature axis back electromotive force u q , due to the reconstruction of the quadrature axis current i q The initial phase of each order harmonic and the quadrature axis back electromotive force u q The initial phase difference is 180°, which suppresses the harmonics of the quadrature-axis back electromotive force. The harmonic components related to the original torque characterization value obtained in this way are close to zero, making the motor output stable torque and the motor control effect better.

[0058] Optionally, based on the above embodiment, further refinement is performed. Figure 2FIG. 1 is a flow chart of another method for suppressing back electromotive force harmonics of a motor provided by an embodiment of the present invention; FIG. Figure 2 As shown, the method includes the following steps:

[0059] S210: Obtain the three-phase back electromotive force of the synchronous motor.

[0060] S220, performing Clarke transformation on the three-axis back electromotive force to obtain the α-axis back electromotive force and the β-axis back electromotive force.

[0061] Among them, first, the three-way back electromotive force u a 、u b and u c Perform Clarke transformation to obtain the α-axis back electromotive force and β-axis back electromotive force in the α-β coordinate system; specifically, the α-axis back electromotive force U can be obtained according to the following formula (2): α and β-axis back electromotive force U β :

[0062]

[0063] S230 , performing park transformation on the α-axis back electromotive force and the β-axis back electromotive force to obtain the direct-axis back electromotive force and the quadrature-axis back electromotive force.

[0064] Among them, the back electromotive force U on the α axis α and β-axis back electromotive force U β Perform park transformation to obtain the direct-axis back electromotive force and quadrature-axis back electromotive force in the dp coordinate system. Specifically, the direct-axis back electromotive force U can be obtained according to the following formula (3): d and quadrature axis back electromotive force U q .

[0065]

[0066] S240 , performing Fourier transform on the quadrature-axis back electromotive force, and extracting the amplitude, frequency, and initial phase of each order harmonic of the quadrature-axis back electromotive force.

[0067] S250 , reconstructing each order harmonic of the quadrature-axis current according to the amplitude, frequency, and initial phase of each order harmonic of the quadrature-axis back electromotive force.

[0068] S260 , superimposing harmonics of each order of the quadrature-axis current to obtain a reconstructed quadrature-axis current.

[0069] S270 , multiplying the reconstructed quadrature-axis current by the quadrature-axis back electromotive force to obtain an original torque representation value.

[0070] Among them, the quadrature axis current i q Injected into the quadrature axis back electromotive force u qSpecifically, the original torque representation value is obtained by multiplying the reconstructed quadrature-axis current and the quadrature-axis back electromotive force. q The initial phase of each order harmonic and the quadrature axis back electromotive force u q The initial phase difference is 180°, achieving harmonic suppression of the quadrature-axis back EMF. The resulting original torque representation value has harmonic components close to zero, resulting in a smooth motor torque output and better motor control. Furthermore, this proposal reconstructs the quadrature-axis current harmonics by superimposing them to obtain a reconstructed quadrature-axis current. The reconstructed quadrature-axis current is then multiplied by the quadrature-axis back EMF to obtain the original torque representation value. This method is simple and practical, effectively suppresses the back EMF harmonics, and requires relatively low computational power from the controller.

[0071] An embodiment of the present invention further provides a motor back electromotive force harmonic suppression device, which can execute a motor back electromotive force harmonic suppression method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method. Figure 3 This is a structural block diagram of another motor back electromotive force harmonic suppression device provided by an embodiment of the present invention, such as Figure 3 As shown, the motor back electromotive force harmonic suppression device includes:

[0072] An acquisition module 10 is used to acquire the three-phase back electromotive force of the synchronous motor;

[0073] A conversion module 20 is used to convert the three-axis back electromotive force into a direct-axis back electromotive force and a quadrature-axis back electromotive force;

[0074] An extraction module 30 is used to perform Fourier transform on the quadrature-axis back electromotive force and extract the amplitude, frequency and initial phase of each order harmonic of the quadrature-axis back electromotive force;

[0075] A reconstruction module 40 is used to reconstruct the harmonics of each order of the quadrature-axis current according to the amplitude, frequency and initial phase of each order of the harmonics of the quadrature-axis back electromotive force;

[0076] A quadrature-axis current reconstructing module 50 is used to superimpose harmonics of the quadrature-axis current to obtain a reconstructed quadrature-axis current;

[0077] The injection module 60 is configured to inject the reconstructed quadrature-axis current into the quadrature-axis back electromotive force to obtain an original torque representation value.

[0078] Optionally, the proportion of each order harmonic of the quadrature-axis current is the same as the proportion of each order harmonic of the quadrature-axis back electromotive force;

[0079] The initial phase of each order harmonic of the quadrature axis current is 180° different from the initial phase of each order harmonic of the quadrature axis back electromotive force;

[0080] The frequencies of the various harmonics of the quadrature-axis current are the same as the frequencies of the various harmonics of the direct-axis back electromotive force.

[0081] Optionally, the transformation module 20 includes:

[0082] The first conversion unit is used to perform Clarke transformation on the three-axis back electromotive force to obtain the α-axis back electromotive force and the β-axis back electromotive force;

[0083] The second conversion unit is used to perform park conversion on the α-axis back electromotive force and the β-axis back electromotive force to obtain the direct-axis back electromotive force and the quadrature-axis back electromotive force.

[0084] Optionally, the injection module 60 is specifically configured to:

[0085] The original torque representation value is obtained by multiplying the reconstructed quadrature-axis current and the quadrature-axis back electromotive force.

[0086] Figure 4 A schematic diagram of the structure of a computer device provided in an embodiment of the present invention is shown in FIG. Figure 4 As shown, the device includes a processor 70, a memory 71, an input device 72 and an output device 73; the number of processors 70 in the device can be one or more. Figure 4 In the embodiment, a processor 70 is used as an example; the processor 70, the memory 71, the input device 72 and the output device 73 in the device can be connected by a bus or other means. Figure 4 The bus connection is taken as an example.

[0087] Memory 71, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to a method for suppressing motor back-EMF harmonics in an embodiment of the present invention. Processor 70 executes the software programs, instructions, and modules stored in memory 71 to perform various functional applications and data processing of the device, thereby implementing the aforementioned method for suppressing motor back-EMF harmonics.

[0088] The memory 71 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store data created based on the use of the terminal, etc. Furthermore, the memory 71 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state memory device. In some instances, the memory 71 may further include memory remotely located relative to the processor 70, and these remote memories may be connected to the device via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0089] The input device 72 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The output device 73 may include a display device such as a display screen.

[0090] An embodiment of the present invention further provides a storage medium containing computer-executable instructions, wherein the computer-executable instructions, when executed by a computer processor, are used to perform a method for suppressing back electromotive force harmonics of a motor, the method comprising:

[0091] Obtain the three-phase back electromotive force of the synchronous motor;

[0092] Transforming the three-axis back electromotive force to obtain a direct-axis back electromotive force and a quadrature-axis back electromotive force;

[0093] Performing Fourier transform on the quadrature-axis back electromotive force, and extracting the amplitude, frequency and initial phase of each order harmonic of the quadrature-axis back electromotive force;

[0094] reconstructing each order harmonic of the quadrature-axis current according to the amplitude, frequency and initial phase of each order harmonic of the quadrature-axis back electromotive force;

[0095] Superimposing harmonics of various orders of the quadrature-axis current to obtain a reconstructed quadrature-axis current;

[0096] The reconstructed quadrature-axis current is injected into the quadrature-axis back electromotive force to obtain the original torque representation value.

[0097] Of course, the computer executable instructions of a storage medium containing computer executable instructions provided in an embodiment of the present invention are not limited to the method operations described above, and can also execute related operations in a motor back electromotive force harmonic suppression method provided in any embodiment of the present invention.

[0098] Through the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented with the help of software and necessary general-purpose hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0099] It is worth noting that in the embodiment of the above-mentioned search device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0100] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for suppressing back electromotive force harmonics of a motor, characterized in that: include: Obtain the three-phase back electromotive force of the synchronous motor; Transforming the three-axis back electromotive force to obtain a direct-axis back electromotive force and a quadrature-axis back electromotive force; Performing Fourier transform on the quadrature-axis back electromotive force, and extracting the amplitude, frequency and initial phase of each order harmonic of the quadrature-axis back electromotive force; Wherein, the quadrature axis back electromotive force u1 is the quadrature axis back electromotive force u q The amplitude of the fundamental wave, pw is the quadrature axis back electromotive force u q The frequency of the fundamental wave, is the quadrature-axis back electromotive force u q The initial phase of the fundamental wave; h is the order, u h is the amplitude of each order harmonic, w is the frequency of each order harmonic, is the initial phase of each order harmonic; Reconstructing each order harmonic of the quadrature-axis current according to the amplitude, frequency and initial phase of each order harmonic of the quadrature-axis back electromotive force; wherein the initial phase of each order harmonic of the quadrature-axis current differs from the initial phase of each order harmonic of the quadrature-axis back electromotive force by 180°; the proportion of each order harmonic of the quadrature-axis current is the same as the proportion of each order harmonic of the quadrature-axis back electromotive force; the frequency of each order harmonic of the quadrature-axis current is the same as the frequency of each order harmonic of the quadrature-axis back electromotive force; The harmonics of each order of the reconstructed quadrature-axis current are h is the order, is the initial phase of each order harmonic of the reconstructed quadrature axis current, w is the frequency of each order harmonic of the reconstructed quadrature axis current, i h is the amplitude of each order harmonic of the reconstructed quadrature-axis current; superimposing harmonics of each order of the quadrature-axis current to obtain a reconstructed quadrature-axis current; Wherein, the reconstructed quadrature-axis current is: i1 is the amplitude of the fundamental wave of the reconstructed quadrature-axis current, pw is the frequency of the fundamental wave of the reconstructed quadrature-axis current, is the initial phase of the fundamental wave of the reconstructed quadrature-axis current; The reconstructed quadrature-axis current is injected into the quadrature-axis back electromotive force to obtain the original torque representation value.

2. The method for suppressing back electromotive force harmonics of a motor according to claim 1, characterized in that: The three-axis back electromotive force is transformed to obtain the direct-axis back electromotive force and the quadrature-axis back electromotive force, including: Performing Clarke transformation on the three-axis back electromotive force to obtain α-axis back electromotive force and β-axis back electromotive force; Park transformation is performed on the α-axis back electromotive force and the β-axis back electromotive force to obtain the direct-axis back electromotive force and the quadrature-axis back electromotive force.

3. The method for suppressing back electromotive force harmonics of a motor according to claim 1, characterized in that: Injecting the reconstructed quadrature-axis current into the quadrature-axis back electromotive force to obtain an original torque representation value includes: The reconstructed quadrature-axis current is multiplied by the quadrature-axis back electromotive force to obtain an original torque representation value.

4. A motor back electromotive force harmonic suppression device, characterized in that: include: An acquisition module is used to obtain the three-phase back electromotive force of the synchronous motor; A conversion module, used for converting the three-axis back electromotive force into a direct-axis back electromotive force and a quadrature-axis back electromotive force; An extraction module is used to perform Fourier transform on the quadrature-axis back electromotive force and extract the amplitude, frequency and initial phase of each order harmonic of the quadrature-axis back electromotive force; wherein, the quadrature-axis back electromotive force u1 is the quadrature axis back electromotive force u q The amplitude of the fundamental wave, pw is the quadrature axis back electromotive force u q The frequency of the fundamental wave, is the quadrature-axis back electromotive force u q The initial phase of the fundamental wave; h is the order, u h is the amplitude of each order harmonic, w is the frequency of each order harmonic, is the initial phase of each order harmonic; A reconstruction module is used to reconstruct the harmonics of each order of the quadrature-axis current according to the amplitude, frequency and initial phase of each order harmonic of the quadrature-axis back electromotive force; wherein the initial phase of each order harmonic of the quadrature-axis current is 180° different from the initial phase of each order harmonic of the quadrature-axis back electromotive force; the proportion of each order harmonic of the quadrature-axis current is the same as the proportion of each order harmonic of the quadrature-axis back electromotive force; the frequency of each order harmonic of the quadrature-axis current is the same as the frequency of each order harmonic of the quadrature-axis back electromotive force; the reconstructed harmonics of each order of the quadrature-axis current are h is the order, is the initial phase of each order harmonic of the reconstructed quadrature axis current, w is the frequency of each order harmonic of the reconstructed quadrature axis current, i h is the amplitude of each order harmonic of the reconstructed quadrature-axis current; The quadrature-axis current reconstructing module is used to superimpose harmonics of each order of the quadrature-axis current to obtain a reconstructed quadrature-axis current; wherein the reconstructed quadrature-axis current is: i1 is the amplitude of the fundamental wave of the reconstructed quadrature-axis current, pw is the frequency of the fundamental wave of the reconstructed quadrature-axis current, is the initial phase of the fundamental wave of the reconstructed quadrature-axis current; The injection module is used to inject the reconstructed quadrature-axis current into the quadrature-axis back electromotive force to obtain an original torque representation value.

5. The motor back electromotive force harmonic suppression device according to claim 4, characterized in that: The transformation module includes: A first conversion unit is used to perform Clarke transformation on the three-axis back electromotive force to obtain an α-axis back electromotive force and a β-axis back electromotive force; The second conversion unit is used to perform park conversion on the α-axis back electromotive force and the β-axis back electromotive force to obtain a direct-axis back electromotive force and a quadrature-axis back electromotive force.

6. The motor back electromotive force harmonic suppression device according to claim 4, characterized in that: The injection module is specifically used to: The reconstructed quadrature-axis current is multiplied by the quadrature-axis back electromotive force to obtain an original torque representation value.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the motor back electromotive force harmonic suppression method as described in any one of claims 1 to 3 is implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for suppressing back electromotive force harmonics of a motor as claimed in any one of claims 1 to 3 is implemented.

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