Method, device and system for detecting rotor position and speed of permanent magnet synchronous motor

Abstract

The present invention relates to the field of motor control technology, and specifically discloses a method for detecting the rotor position and speed of a permanent magnet synchronous motor, which includes: acquiring the sine Hall signal and cosine Hall signal of a linear Hall sensor in real time; calculating the inverse tangent rotor electrical angle and the filtered inverse tangent rotor electrical angular velocity at the current moment; calculating the filtered rotor electrical angle error at the current moment; calculating the rotor electrical angular velocity at the current moment based on the filtered rotor electrical angle error at the current moment and the filtered inverse tangent rotor electrical angular velocity at the current moment; calculating the rotor electrical angle at the current moment based on the rotor electrical angular velocity at the current moment and the filtered rotor electrical angle error at the current moment. The present invention also discloses a detection device for the rotor position and speed of a permanent magnet synchronous motor and a permanent magnet synchronous motor control system. The method for detecting the rotor position and speed of a permanent magnet synchronous motor provided by the present invention can improve the rapidity and accuracy of rotor position extraction.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a method for detecting a permanent magnet synchronous motor rotor position and a rotational speed, a device for detecting a permanent magnet synchronous motor rotor position and a rotational speed, and a permanent magnet synchronous motor control system. Background Art

[0002] Permanent magnet synchronous motors have the characteristics of high power density, high efficiency, compact structure and high reliability. They have been widely used in aerospace, wind power generation, household appliances and electric vehicles. In order to achieve high-performance control of permanent magnet synchronous motors, the motor drive system must accurately obtain the rotor position and speed in real time. At present, there are quite a lot of research results on position sensorless control schemes, but the realization of accurate and stable control of motors still faces many difficulties in working conditions such as motor starting, extremely low speed operation, and large load impact. In the existing technologies in the fields of electric vehicles, Hall sensors are usually used to detect and calculate the motor rotor position and speed in real time.

[0003] Among them, the linear Hall sensor is small in size, light in weight, low in cost, and can adapt to harsh working environments, so the rotor position calculated by the linear Hall sensor has high accuracy. However, due to the influence of inverter nonlinearity and rotor flux spatial harmonics, the permanent magnet flux signal detected by the Hall sensor will produce 5th and 7th harmonics, which will lead to 6th harmonic pulsation in the rotor position estimation error.

[0004] At present, the common linear Hall sensor decoding position and speed solutions mainly include the formula method and the phase-locked loop method. The formula method is to obtain the rotor position by calculating the inverse tangent of the Hall sine and cosine signals, and then differentiate the rotor position to obtain the speed. The rotor position accuracy of this method is heavily dependent on the Hall signal. The distortion of the Hall signal will increase the harmonic pulsation of the motor rotor position and speed, and reduce the decoding accuracy of the Hall signal. The phase-locked loop can effectively suppress the harmonic pulsation of the rotor position, but when the motor is accelerating or decelerating, the phase-locked loop has a large phase delay and poor dynamic response, which can easily cause a large position estimation error and may even cause a loss of step, affecting the stable operation of the motor; at the same time, as the speed increases, the steady-state error of the rotor position will also increase.

[0005] Therefore, it is of great significance to develop a linear Hall decoding solution that can reduce the harmonic pulsation of the rotor position and speed while suppressing the phase delay of the motor speed in dynamic and steady-state conditions. Summary of the invention

[0006] The present invention provides a method for detecting the rotor position and speed of a permanent magnet synchronous motor, a device for detecting the rotor position and speed of a permanent magnet synchronous motor, and a permanent magnet synchronous motor control system, which solve the problem of large errors in calculating the position and speed of linear Hall sensor decoding in the related art.

[0007] As a first aspect of the present invention, a method for detecting the rotor position and speed of a permanent magnet synchronous motor is provided, which comprises:

[0008] Acquire the sine Hall signal and cosine Hall signal of the linear Hall sensor in real time;

[0009] Performing an inverse tangent calculation on the current sine Hall signal and the cosine Hall signal to obtain the current inverse tangent rotor electrical angle and the current filtered inverse tangent rotor electrical angular velocity;

[0010] The filtered rotor electrical angle error at the current moment is calculated based on the inverse tangent rotor electrical angle at the current moment, the phase-locked loop rotor electrical angle at the previous moment, and the rotor electrical angular velocity at the previous moment;

[0011] The rotor electrical angular velocity at the current moment is calculated based on the filtered rotor electrical angle error at the current moment and the filtered inverse tangent rotor electrical angular velocity at the current moment;

[0012] The rotor electrical angle at the current moment is calculated based on the rotor electrical angular velocity at the current moment and the filtered rotor electrical angle error at the current moment.

[0013] Furthermore, the inverse tangent calculation is performed on the sine Hall signal and the cosine Hall signal at the current moment to obtain the inverse tangent rotor electrical angle at the current moment and the filtered inverse tangent rotor electrical angular velocity at the current moment, including:

[0014] The current sine Hall signal and the cosine Hall signal are both calculated by the inverse tangent operator to obtain the current inverse tangent rotor electrical angle and the current filtered inverse tangent rotor electrical angular velocity.

[0015] Furthermore, the current sine Hall signal and the cosine Hall signal are both calculated by the inverse tangent operator to obtain the current inverse tangent rotor electrical angle and the current filtered inverse tangent rotor electrical angular velocity, including:

[0016] The inverse tangent rotor electrical angle at the current moment is obtained by inverse tangent calculation according to the sine Hall signal and cosine Hall signal at the current moment;

[0017] The inverse tangent rotor electrical angular velocity at the current moment is calculated according to the inverse tangent rotor electrical angle at the current moment;

[0018] The inverse tangent rotor electrical angular velocity at the current moment is subjected to low-pass filtering to obtain the filtered inverse tangent rotor electrical angular velocity at the current moment.

[0019] Further, the filtered rotor electrical angle error at the current moment is calculated according to the inverse tangent rotor electrical angle at the current moment, the phase-locked loop rotor electrical angle at the previous moment, and the rotor electrical angular velocity at the previous moment, including:

[0020] The rotor electrical angle error at the current moment is calculated based on the inverse tangent rotor electrical angle at the current moment and the phase-locked loop rotor electrical angle at the previous moment;

[0021] The filtered rotor electrical angle error at the current moment is calculated by an adaptive filter according to the rotor electrical angle error at the current moment and the rotor electrical angular velocity at the previous moment.

[0022] Further, the rotor electrical angular velocity at the current moment is calculated based on the filtered rotor electrical angle error at the current moment and the filtered inverse tangent rotor electrical angular velocity at the current moment, including:

[0023] The rotor electrical angular velocity correction value at the current moment is calculated by the PI regulator according to the filtered rotor electrical angle error at the current moment;

[0024] The rotor electrical angular velocity at the current moment is calculated based on the rotor electrical angular velocity correction value at the current moment and the filtered inverse tangent rotor electrical angular velocity at the current moment.

[0025] Further, the rotor electrical angle at the current moment is calculated according to the rotor electrical angular velocity at the current moment and the filtered rotor electrical angle error at the current moment, including:

[0026] Calculate the current phase-locked loop rotor electrical angle according to the current rotor electrical angular velocity;

[0027] Obtain the phase-locked loop rotor electrical angle at the previous moment according to the phase-locked loop rotor electrical angle at the current moment;

[0028] The rotor electrical angle at the current moment is calculated based on the phase-locked loop rotor electrical angle at the previous moment and the filtered rotor electrical angle error at the current moment.

[0029] As another aspect of the present invention, a device for detecting the rotor position and speed of a permanent magnet synchronous motor is provided, which is used to implement the method for detecting the rotor position and speed of a permanent magnet synchronous motor as described above, and includes:

[0030] An acquisition module, used for acquiring the sine Hall signal and cosine Hall signal of the linear Hall sensor in real time;

[0031] An inverse tangent calculation module is used to perform inverse tangent calculation on the sine Hall signal and the cosine Hall signal at the current moment to obtain the inverse tangent rotor electrical angle at the current moment and the filtered inverse tangent rotor electrical angular velocity at the current moment;

[0032] A phase filter calculation module is used to calculate the current moment filtered rotor electrical angle error based on the current moment inverse tangent rotor electrical angle, the previous moment phase-locked loop rotor electrical angle and the previous moment rotor electrical angular velocity;

[0033] A loop filter calculation module, used to calculate the rotor electrical angular velocity at the current moment according to the filtered rotor electrical angle error at the current moment and the filtered inverse tangent rotor electrical angular velocity at the current moment;

[0034] The voltage-controlled oscillator calculation module is used to calculate the rotor electrical angle at the current moment according to the rotor electrical angular velocity at the current moment and the filtered rotor electrical angle error at the current moment.

[0035] As another aspect of the present invention, a permanent magnet synchronous motor control system is provided, which includes a linear Hall sensor and the permanent magnet synchronous motor rotor position and speed detection device mentioned above, and the permanent magnet synchronous motor rotor position and speed detection device is communicatively connected to the linear Hall sensor.

[0036] The detection method of the rotor position and speed of a permanent magnet synchronous motor provided by the present invention combines the rotor position and speed calculated by the inverse tangent and the phase-locked loop, and introduces the acceleration and speed into the adaptive filtering algorithm, effectively reducing the rotor position and speed harmonic pulsation while suppressing the rotor position phase delay under the speed dynamic and steady-state conditions, and improving the rapidity and accuracy of the rotor position extraction. The detection method of the rotor position and speed of a permanent magnet synchronous motor provided by the present invention has high reliability and strong robustness, and meets the requirements of the permanent magnet synchronous motor drive field such as electric vehicles for system reliability and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention but do not constitute a limitation of the present invention. In the accompanying drawings:

[0038] Figure 1 The present invention provides a flow chart of a method for detecting the rotor position and speed of a permanent magnet synchronous motor.

[0039] Figure 2 This is a principle block diagram of the device for detecting the rotor position and speed of a permanent magnet synchronous motor provided by the present invention.

[0040] Figure 3 This is a principle block diagram of the adaptive filter provided by the present invention.

[0041] Figure 4 This is a block diagram of the permanent magnet synchronous motor control system provided by the present invention.

[0042] Figure 5 This is the Simulink simulation diagram of the traditional inverse tangent Hall decoding solution under dynamic speed conditions.

[0043] Figure 6 This is the Simulink simulation diagram of the traditional phase-locked loop Hall decoding solution under dynamic speed conditions.

[0044] Figure 7 This is a Simulink simulation diagram of the optimized phase-locked loop Hall decoding solution under dynamic speed conditions provided by the present invention. DETAILED DESCRIPTION

[0045] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0046] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention.

[0047] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so as to describe the embodiments of the present invention described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0048] In this embodiment, a method for detecting the rotor position and speed of a permanent magnet synchronous motor is provided. Figure 1 FIG. 1 is a flow chart of a method for detecting the rotor position and speed of a permanent magnet synchronous motor according to an embodiment of the present invention. Figure 1 As shown, including:

[0049] S110, acquiring a sine Hall signal and a cosine Hall signal of a linear Hall sensor in real time;

[0050] In the embodiment of the present invention, the sinusoidal Hall signal H of the linear Hall sensor is obtained in real time. k sin and cosine Hall signal H k cos , where k represents the kth moment.

[0051] S120, performing arc tangent calculation on the sine Hall signal and the cosine Hall signal at the current moment to obtain the arc tangent rotor electrical angle at the current moment and the filtered arc tangent rotor electrical angular velocity at the current moment;

[0052] In an embodiment of the present invention, the sine Hall signal and the cosine Hall signal at the current moment are both calculated by an inverse tangent operator to obtain the inverse tangent rotor electrical angle at the current moment and the filtered inverse tangent rotor electrical angular velocity at the current moment.

[0053] The embodiment of the present invention is described by taking the current time as time k as an example.

[0054] Specifically, according to the sinusoidal Hall signal H at the current time k k sin and cosine Hall signal H k cos The inverse tangent rotor electrical angle θ at the current moment is obtained by inverse tangent calculation k atan , the specific calculation formula is:

[0055]

[0056] According to the inverse tangent rotor electrical angle θ at the current moment k atan Calculate the inverse tangent rotor electrical angular velocity ω at the current moment k atan , the specific calculation formula is:

[0057]

[0058] Among them, θ k-1 atan represents the filtered inverse tangent rotor electrical angle at time k-1, T s Indicates the sampling period.

[0059] The inverse tangent rotor electrical angular velocity ω at the current moment k atan Perform low-pass filtering to obtain the current moment filtered inverse tangent rotor electrical angular velocity ω k atanF .

[0060] It should be understood that the filtered inverse tangent rotor electrical angular velocity ω at time k can be obtained by first-order low-pass filtering: k atanF .

[0061] S130, calculating the filtered rotor electrical angle error at the current moment according to the inverse tangent rotor electrical angle at the current moment, the phase-locked loop rotor electrical angle at the previous moment, and the rotor electrical angular velocity at the previous moment;

[0062] Specifically, it includes:

[0063] According to the inverse tangent rotor electrical angle at the current moment and the phase-locked loop rotor electrical angle θ at the previous momentk-1 PLL Calculate the rotor electrical angle error Δθ at the current moment k , the specific calculation formula is as follows:

[0064]

[0065] According to the rotor electrical angle error Δθ at the current moment k and the rotor electrical angular velocity ω at the previous moment k-1 The current moment filtered rotor electrical angle error Δθ is obtained by calculating the adaptive filter k F .

[0066] In the embodiment of the present invention, the transfer function G(s) of the adaptive filter is expressed as follows:

[0067]

[0068] Where s represents the integral operator, λ represents the adaptive filter gain, ω' k-1 It represents the rotor electrical angular velocity filter feedback value at the previous moment, i.e., moment k-1.

[0069] Figure 3 Shown is the principle block diagram of the adaptive filter.

[0070] It should be understood that the rotor electrical angular velocity filter feedback value ω' at time k-1 k-1 Directly affects the phase delay of the adaptive filter. Introducing the third power of the speed can improve the phase delay caused by the adaptive filter under steady-state speed conditions. Introducing acceleration can improve the phase delay caused by the adaptive filter under dynamic speed conditions. Rotor electrical angular velocity filter feedback ω' at time k-1 k-1 The calculation formula is:

[0071]

[0072] Among them, γ1 and γ2 are the cubic speed gain parameter and acceleration gain parameter respectively. is the filtered rotor angular acceleration at time k-1, ω n is the rated rotor electrical angular velocity.

[0073] Filtered rotor angular acceleration at time k-1 is the rotor electrical angular velocity ω at time k-1 k-1 The rotor angular acceleration a at time k-1 is calculated by the following rotor angular acceleration formula k-1 , and then get it through a first-order low-pass filter. The rotor angular acceleration calculation formula is:

[0074]

[0075] Among them, ω k-2 is the rotor electrical angular velocity at time k-2.

[0076] S140, calculating the rotor electrical angular velocity at the current moment according to the filtered rotor electrical angle error at the current moment and the filtered inverse tangent rotor electrical angular velocity at the current moment;

[0077] In the embodiment of the present invention, the following may be specifically included:

[0078] According to the current moment filtering rotor electrical angle error Δθ k F The current rotor electrical angular velocity correction value Δω is calculated by the PI regulator k , the specific calculation formula is:

[0079]

[0080] Among them, k p represents the PI proportional adjustment parameter, k i Represents the PI integral adjustment parameter.

[0081] According to the current rotor electrical angular velocity correction value Δω k and the filtered inverse tangent rotor electrical angular velocity ω at the current moment k atanF Calculate the rotor electrical angular velocity ω at the current moment k , the specific calculation formula is:

[0082]

[0083] S150. Calculate the rotor electrical angle at the current moment according to the rotor electrical angular velocity at the current moment and the filtered rotor electrical angle error at the current moment.

[0084] In the embodiment of the present invention, it specifically includes:

[0085] According to the rotor electrical angular velocity ω at the current moment k Calculate the current phase-locked loop rotor electrical angle θ k PLL , the specific calculation formula is:

[0086]

[0087] According to the current phase-locked loop rotor electrical angle θ k PLL Get the phase-locked loop rotor electrical angle θ at the previous moment k-1 PLL ;

[0088] It should be understood here that the current phase-locked loop rotor electrical angle θ can be specifically obtained byk PLL By delaying a sampling period T s Then the phase-locked loop rotor electrical angle θ is obtained at time k-1 k-1 PLL .

[0089] According to the phase-locked loop rotor electrical angle θ at the previous moment k-1 PLL and the filtered rotor electrical angle error Δθ at the current moment k F Calculate the rotor electrical angle θ at the current moment k , the specific calculation formula is:

[0090]

[0091] It should be understood that the rotor electrical angle at the current moment can be obtained through the above calculation, and the rotor position can be determined based on the rotor electrical angle. The rotor electrical angular velocity at the current moment can be obtained according to the above calculation, and the rotor speed can be determined.

[0092] In summary, the detection method of the rotor position and speed of a permanent magnet synchronous motor provided by the embodiment of the present invention combines the rotor position and speed calculated by the inverse tangent and the phase-locked loop, and introduces the acceleration and speed into the adaptive filtering algorithm, effectively reducing the rotor position and speed harmonic pulsation while suppressing the rotor position phase delay under dynamic and steady-state conditions, thereby improving the rapidity and accuracy of rotor position extraction. The detection method of the rotor position and speed of a permanent magnet synchronous motor provided by the present invention has high reliability and strong robustness, and meets the requirements of the permanent magnet synchronous motor drive field such as electric vehicles for system reliability and efficiency.

[0093] As another embodiment of the present invention, a device for detecting the rotor position and speed of a permanent magnet synchronous motor is provided, which is used to implement the method for detecting the rotor position and speed of a permanent magnet synchronous motor as described above, and includes:

[0094] An acquisition module, used for acquiring the sine Hall signal and cosine Hall signal of the linear Hall sensor in real time;

[0095] The inverse tangent calculation module 1 is used to perform inverse tangent calculation on the sine Hall signal and the cosine Hall signal at the current moment to obtain the inverse tangent rotor electrical angle at the current moment and the filtered inverse tangent rotor electrical angular velocity at the current moment;

[0096] The phase filter calculation module 2 is used to calculate the current moment filtered rotor electrical angle error according to the current moment arc tangent rotor electrical angle, the previous moment phase locked loop rotor electrical angle and the previous moment rotor electrical angular velocity;

[0097] A loop filter calculation module 3 is used to calculate the rotor electrical angular velocity at the current moment according to the filtered rotor electrical angle error at the current moment and the filtered inverse tangent rotor electrical angular velocity at the current moment;

[0098] The voltage controlled oscillator calculation module 4 is used to calculate the rotor electrical angle at the current moment according to the rotor electrical angular velocity at the current moment and the filtered rotor electrical angle error at the current moment.

[0099] Specifically, Figure 2 As shown, it is a principle block diagram of the detection device of the permanent magnet synchronous motor rotor position and speed. The specific working principle can refer to the description of the detection method of the permanent magnet synchronous motor rotor position and speed in the previous text, which will not be repeated here.

[0100] As another embodiment of the present invention, a permanent magnet synchronous motor control system is provided, which includes a linear Hall sensor and the permanent magnet synchronous motor rotor position and speed detection device mentioned above, and the permanent magnet synchronous motor rotor position and speed detection device is communicatively connected to the linear Hall sensor.

[0101] according to Figure 4 The control system block diagram shown in the figure shows a simulation model of a permanent magnet synchronous motor control system. The speed is set to -900rpm to start the operation, and the speed is set to 100rpm after 4s; the load is set to 60Nm. Under the traditional arc tangent, traditional phase-locked loop and optimized phase-locked loop decoding schemes of the Hall signal, the speed, speed error and angle error simulation data are observed respectively, as shown in Figure 5-7 It can be found that compared with the traditional inverse tangent scheme, the optimized phase-locked loop scheme effectively reduces the speed and rotor position harmonic pulsation; compared with the traditional phase-locked loop scheme, the optimized phase-locked loop scheme effectively suppresses the phase delay of the rotor position in dynamic and steady-state conditions.

[0102] In summary, the method, device and control system for detecting the rotor position and speed of a permanent magnet synchronous motor provided by the present invention have the following advantages:

[0103] (1) The rotor position error obtained by inverse tangent and phase-locked loop decoding is filtered and then introduced into the phase-locked loop rotor position phase compensation to suppress the phase delay of the traditional phase-locked loop rotor position under dynamic and steady-state conditions, greatly improving the speed and accuracy of rotor position extraction;

[0104] (2) The speed obtained by arc tangent decoding is introduced into the phase-locked loop for speed feedforward, which solves the problem of slow tracking speed of the traditional phase-locked loop, improves the response speed of the system, and reduces the bandwidth of the PI regulator;

[0105] (3) The rotor position error is adaptively filtered. Only one filter is used to eliminate the sixth harmonic pulsation of the rotor position error generated by the fifth and seventh harmonics of the two Hall signals. There is no need to filter the Hall signals, which effectively reduces the system complexity and computational burden.

[0106] (4) Considering the influence of adaptive filter frequency selection on the rotor position phase delay under dynamic and steady-state speed conditions, the acceleration and the cube of the speed are introduced into the adaptive filtering algorithm to effectively reduce the rotor position phase delay under dynamic and steady-state speed conditions and improve the dynamic and steady-state performance of the system;

[0107] (5) Compared with the inverse tangent open-loop decoding, combined with the phase-locked loop closed-loop feedback, it effectively reduces the system's dependence and sensitivity on the Hall signal and reduces the harmonic pulsation of the rotor position and speed.

[0108] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A method for detecting the rotor position and speed of a permanent magnet synchronous motor, characterized in that: include: Acquire the sine Hall signal and cosine Hall signal of the linear Hall sensor in real time; Performing an inverse tangent calculation on the current sine Hall signal and the cosine Hall signal to obtain the current inverse tangent rotor electrical angle and the current filtered inverse tangent rotor electrical angular velocity; The filtered rotor electrical angle error at the current moment is calculated based on the inverse tangent rotor electrical angle at the current moment, the phase-locked loop rotor electrical angle at the previous moment, and the rotor electrical angular velocity at the previous moment; According to the inverse tangent rotor electrical angle at the current moment and the phase-locked loop rotor electrical angle θ at the previous moment k-1 PLL Calculate the rotor electrical angle error Δθ at the current moment k , the calculation formula is as follows: According to the rotor electrical angle error Δθ at the current moment k and the rotor electrical angular velocity ω at the previous moment k-1 The current moment filtered rotor electrical angle error Δθ is obtained by calculating the adaptive filter k F ; The expression of the transfer function G(s) of the adaptive filter is as follows: Where s represents the integral operator, λ represents the adaptive filter gain, ω' k-1 Indicates the rotor electrical angular velocity filter feedback value at time k-1; Rotor electrical angular velocity filter feedback value ω' at time k-1 k-1 The calculation formula is: Among them, γ1 and γ2 are the cubic speed gain parameter and acceleration gain parameter respectively. is the filtered rotor angular acceleration at time k-1, ω n is the rated rotor electrical angular velocity; Filtered rotor angular acceleration at time k-1 is the rotor electrical angular velocity ω at time k-1 k-1 The rotor angular acceleration a at time k-1 is calculated by the rotor angular acceleration formula k-1 , and then obtained through first-order low-pass filtering; The formula for calculating the rotor angular acceleration is: Among them, ω k-2 is the rotor electrical angular velocity at time k-2, T s Indicates the sampling period; The rotor electrical angular velocity at the current moment is calculated based on the filtered rotor electrical angle error at the current moment and the filtered inverse tangent rotor electrical angular velocity at the current moment; The rotor electrical angle at the current moment is calculated based on the rotor electrical angular velocity at the current moment and the filtered rotor electrical angle error at the current moment.

2. The detection method according to claim 1, characterized in that: Performing an inverse tangent calculation on the current sine Hall signal and the cosine Hall signal to obtain the current inverse tangent rotor electrical angle and the current filtered inverse tangent rotor electrical angular velocity, including: The current sine Hall signal and the cosine Hall signal are both calculated by the inverse tangent operator to obtain the current inverse tangent rotor electrical angle and the current filtered inverse tangent rotor electrical angular velocity.

3. The detection method according to claim 2, characterized in that: The current sine Hall signal and cosine Hall signal are calculated by the inverse tangent operator to obtain the current inverse tangent rotor electrical angle and the current filtered inverse tangent rotor electrical angular velocity, including: The inverse tangent rotor electrical angle at the current moment is obtained by inverse tangent calculation according to the sine Hall signal and cosine Hall signal at the current moment; The inverse tangent rotor electrical angular velocity at the current moment is calculated according to the inverse tangent rotor electrical angle at the current moment; The inverse tangent rotor electrical angular velocity at the current moment is subjected to low-pass filtering to obtain the filtered inverse tangent rotor electrical angular velocity at the current moment.

4. The detection method according to claim 1, characterized in that: The rotor electrical angular velocity at the current moment is calculated based on the filtered rotor electrical angle error at the current moment and the filtered inverse tangent rotor electrical angular velocity at the current moment, including: The rotor electrical angular velocity correction value at the current moment is calculated by the PI regulator according to the filtered rotor electrical angle error at the current moment; The rotor electrical angular velocity at the current moment is calculated based on the rotor electrical angular velocity correction value at the current moment and the filtered inverse tangent rotor electrical angular velocity at the current moment.

5. The detection method according to claim 1, characterized in that: The rotor electrical angle at the current moment is calculated according to the rotor electrical angular velocity at the current moment and the filtered rotor electrical angle error at the current moment, including: Calculate the current phase-locked loop rotor electrical angle according to the current rotor electrical angular velocity; Obtain the phase-locked loop rotor electrical angle at the previous moment according to the phase-locked loop rotor electrical angle at the current moment; The rotor electrical angle at the current moment is calculated based on the phase-locked loop rotor electrical angle at the previous moment and the filtered rotor electrical angle error at the current moment.

6. A device for detecting the rotor position and speed of a permanent magnet synchronous motor, used to implement the method for detecting the rotor position and speed of a permanent magnet synchronous motor according to any one of claims 1 to 5, characterized in that: include: An acquisition module, used for acquiring the sine Hall signal and cosine Hall signal of the linear Hall sensor in real time; An inverse tangent calculation module is used to perform inverse tangent calculation on the sine Hall signal and the cosine Hall signal at the current moment to obtain the inverse tangent rotor electrical angle at the current moment and the filtered inverse tangent rotor electrical angular velocity at the current moment; A phase filter calculation module is used to calculate the current moment filtered rotor electrical angle error based on the current moment arc tangent rotor electrical angle, the previous moment phase-locked loop rotor electrical angle and the previous moment rotor electrical angular velocity; A loop filter calculation module, used to calculate the rotor electrical angular velocity at the current moment according to the filtered rotor electrical angle error at the current moment and the filtered inverse tangent rotor electrical angular velocity at the current moment; The voltage-controlled oscillator calculation module is used to calculate the rotor electrical angle at the current moment according to the rotor electrical angular velocity at the current moment and the filtered rotor electrical angle error at the current moment.

7. A permanent magnet synchronous motor control system, characterized in that: It comprises a linear Hall sensor and the device for detecting the rotor position and speed of a permanent magnet synchronous motor as claimed in claim 6, wherein the device for detecting the rotor position and speed of a permanent magnet synchronous motor is communicatively connected with the linear Hall sensor.

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