Permanent magnet synchronous motor control device and method

Abstract

The application discloses a kind of permanent magnet synchronous motor control device, comprising: permanent magnet synchronous motor, rotary transformer, angle calculation unit, controller;Through the controller to the permanent magnet synchronous motor is applied voltage and current, obtains the relative angle of each pair of pole zero point of the rotary transformer and the permanent magnet synchronous motor rotor permanent magnet, to identify the each pair of pole of the rotary transformer.It can be accurately positioned to the pair of pole of rotary transformer, so as to utilize the error data of stored rotary transformer or the amplitude and angle of specific frequency obtained by frequency analysis part to correct the signal output by rotary transformer to high-precision inhibit periodic error caused by assembly error or shape error of rotary transformer and the like.

Description

Technical Field

[0001] This invention relates to the field of control, specifically to a control device for a permanent magnet synchronous motor. This invention also discloses a control method for a permanent magnet synchronous motor. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs) are simple in structure, small in size, light in weight, low in loss, and high in efficiency. Compared with DC motors, they do not have the disadvantages of DC motors such as commutators and brushes; compared with asynchronous motors, they do not require reactive excitation current, thus resulting in higher efficiency, higher power factor, larger torque-to-inertia ratio, reduced stator current and stator resistance losses, and measurable rotor parameters and good control performance; compared with ordinary synchronous motors, they eliminate the excitation device, simplifying the structure and improving efficiency. Systems driven by PMSMs can achieve high-precision, high-dynamic-performance, and wide-range speed regulation or positioning control, therefore PMSMs are widely used in motor drive systems. Unlike asynchronous motors, the position of the permanent magnets on the rotor of a PMSM needs to be predetermined or detected by the motor controller for normal operation. Therefore, the controller of a PMSM typically records the angle of the rotor permanent magnets or automatically learns the angle of the permanent magnets after each power outage and power-on. A permanent magnet synchronous motor has a corresponding electrical parameter based on the installation method and number of permanent magnets in the rotor: the number of pole pairs, assumed to be M. That is, for every one revolution of the rotor, the mechanical angle changes from 0° to 360° in one cycle, but the electrical angle corresponding to the rotor permanent magnet changes from 0° to 360° in M ​​cycles.

[0003] Rotary transformers are widely used for detecting the rotation angle of motors due to their robust mechanical properties and excellent environmental resistance. However, rotor eccentricity or shape errors in rotary transformers typically cause periodic errors dependent on the rotational position, leading to inaccuracies in the calculated angle. Rotary transformers are classified into 1-pole, 2-pole, 3-pole, ..., or N-pole rotary transformers based on the number of pole pairs in the output signal variation. Generally, the more pole pairs, the smaller the aforementioned periodic variation error and the higher the accuracy. To reduce costs, more and more manufacturers are choosing rotary transformers with fewer pole pairs, necessitating the overcoming of these periodic variation errors to avoid adversely affecting the system's drive performance. Therefore, various methods have been proposed to suppress these errors on the control device side, thereby achieving high-precision drive.

[0004] Japanese Patent Laid-Open No. 11-27973 discloses the following technique: In addition to a detector for drive control, a high-precision detector is prepared, the position detected by the detector for drive control and the position detected by the high-precision detector are compared in advance, a detection error is calculated, and stored in a control device. A rotational command is issued to a motor to drive the motor to rotate, and the position detected by the detector is corrected with the stored detection error. In addition, in this patent, as a method for cases where the high-precision detector is not suitable for application to calculation of the detection error, the following techniques are disclosed: a technique for rotating the motor at a sufficient speed that the speed loop characteristic for controlling the motor cannot follow, and calculating the detection error based on the detection signal in this state; and a technique for opening the speed loop, i.e., rotating the motor under a condition where the signal of the detector is not applied, and calculating the detection error based on the detection signal in this state.

[0005] The technique disclosed in the above patent is to record the periodic error of the detector for drive control, for correcting the signal of the detector, to achieve high-precision drive. If the resolver has 1 pair of poles, the angle calculated from the sine and cosine signals output from the two-phase output coils of the resolver is one-to-one with the mechanical angle, and the recorded periodic error is also one-to-one with the mechanical angle, so the position calculated from the sine and cosine signals output from the two-phase output coils of the resolver can directly find the error data to be corrected from the stored error data.

[0006] If the resolver has N pairs of poles (N is a positive integer not equal to 1), the angle (0°-360°) calculated from the sine and cosine signals output from the two-phase output coils of the resolver changes N times per revolution of the resolver rotor, and is not one-to-one with the mechanical angle. That is, without the aid of other means, when the control device is powered on again or reset after power-off, the mechanical angle of the rotor cannot be directly calculated from the sine and cosine signals output from the two-phase output coils, and the stored error data one-to-one with the mechanical angle cannot be used for correction.

[0007] Patent CN10720690A, an angle error correction device for a position detector, the frequency analysis unit obtains the amplitude and angle of a specific frequency component corresponding to the angle error by frequency analysis of the detected motor current, and then corrects the rotational position according to the detected rotational position and the amplitude and angle of the specific frequency obtained by the frequency analysis unit. The position detector in this patent must also position the poles of the resolver in advance to correct the rotational position using the amplitude and angle of the specific frequency obtained by the frequency analysis unit if it is a resolver.

[0008] A simple solution to this problem is to add an additional switch that signals once per revolution of the resolver. The mechanical angle of the resolver corresponding to the switch signal is stored in advance, and the switch is used to achieve the purpose of correcting the resolver signal using the stored periodic error data of the resolver or the amplitude and angle of a specific frequency obtained by the frequency analysis unit. However, this solution increases the cost of the control device and is not cost-effective. SUMMARY

[0009] The technical problem to be solved by the present application is to provide a permanent magnet synchronous motor control device that can accurately position the pole pairs of a resolver, so that the resolver output signal can be corrected using the stored error data of the resolver or the amplitude and angle of a specific frequency obtained by the frequency analysis unit to accurately suppress the periodic error caused by the assembly error or shape error of the resolver.

[0010] To solve the above technical problem, the present application discloses a permanent magnet synchronous motor control device, comprising: a permanent magnet synchronous motor comprising a rotor; a resolver mounted on the rotor shaft of the permanent magnet synchronous motor; the resolver is used to output sine and cosine signals; an angle calculation unit for collecting the sine and cosine signals output by the resolver and outputting an angle signal corresponding to the rotor of the permanent magnet synchronous motor; a controller for receiving the angle signal output by the angle calculation unit and outputting voltage and current to control the speed and torque of the permanent magnet synchronous motor to drive the rotor of the permanent magnet synchronous motor to rotate; by applying voltage and current to the permanent magnet synchronous motor through the controller, the relative angle between each pole pair of the resolver and the permanent magnet on the rotor of the permanent magnet synchronous motor is obtained, so as to identify each pole pair of the resolver.

[0011] Preferably, the resolver comprises: an excitation coil, a sine detection coil for detecting the rotor of the resolver, and a cosine detection coil for detecting the rotor of the resolver; the resolver is driven by an alternating excitation voltage to the excitation coil, so as to output a sine signal amplitude-modulated by the angle of the rotor of the resolver at the output terminal of the sine detection coil, and output a cosine signal amplitude-modulated by the angle of the rotor of the resolver at the output terminal of the cosine detection coil.

[0012] Preferably, the number of pole pairs M of the permanent magnet synchronous motor and the number of pole pairs N of the resolver satisfy the relationship that M, 2M, 3M, ···, (N-1)M cannot divide N, and M and N are positive integers.

[0013] Preferably, the angle control unit comprises: an excitation circuit for driving the excitation coil; a differential amplifier for differentially amplifying the voltage between the output terminals of the sine detection coil and the voltage between the output terminals of the cosine detection coil and outputting a signal; an A / D converter for collecting the differential amplifier output signal and outputting a sine signal and a cosine signal; and an angle calculator for collecting the sine signal and the cosine signal output by the A / D converter and outputting a pulse signal to the controller.

[0014] Preferably, the controller counts the pulse signal and forms a pulse count value, which corresponds to the mechanical angle of the rotor of the resolver.

[0015] Preferably, the permanent magnet synchronous motor control device further comprises a detector for recording error data between the rotor position output by the resolver and the rotor position output by the detector.

[0016] Preferably, the detector is a high-precision encoder.

[0017] Preferably, the angle calculation unit and the controller are two independent components, or the angle calculation unit and the controller are integrated into one component.

[0018] The application also discloses a permanent magnet synchronous motor control method, characterized by comprising the following steps.

[0019] The controller performs frequency analysis on the current of the permanent magnet synchronous motor or the signal output by the resolver to obtain the amplitude and phase angle of a specific frequency.

[0020] Any specified zero point of a pair of poles is taken as the starting point for recording periodic error or frequency analysis, and the magnetic pole angle of the zero point of the pair of poles is learned, preset as an angle θ, and stored.

[0021] When the controller is powered on again or reset, the magnetic pole learning of the permanent magnet synchronous motor output voltage and current is performed first, and the motor is driven to rotate, and the magnetic pole angle of each pair of zero points of the resolver can be determined according to the learned magnetic pole angle.

[0022] The magnetic pole angle of each pair of zero points of the resolver is compared with the stored angle θ, and the angle closest to the angle θ is the zero point of the specified pair of poles before power-off or reset, and the pair of poles positioning of the resolver is completed.

[0023] The controller applies voltage and current to the permanent magnet synchronous motor to obtain the relative angle between each pair of zero points of the resolver and the permanent magnet on the rotor of the permanent magnet synchronous motor, so as to identify each pair of poles of the resolver. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a structure block diagram of the embodiment 1 of the control device for permanent magnet synchronous motor of the present application.

[0025] Figure 2 is a waveform chart of the waveforms of the coils of the resolver of Figure 1

[0026] Figure 3 is a corresponding relation chart of the signals of the angle calculation unit in Figure 1

[0027] Figure 4 is a structure block diagram of the embodiment 2 of the control device for permanent magnet synchronous motor of the present application.

[0028] Figure 5 is a comparison chart of the count values of the resolver and the detector output A signal or B signal in the embodiment 2 of the control device for permanent magnet synchronous motor of the present application.

[0029] Figure 6 is a chart of the error data of the deviation of the count value 1 and the count value 2 in the embodiment 2 of the control device for permanent magnet synchronous motor of the present application. Figure 4

[0030] Figure 7 is a chart of the magnetic pole angle of the zero point of the certain pole corresponding to the error data start point learned by the pole learning in the embodiment 2 of the control device for permanent magnet synchronous motor of the present application.

[0031] Explanation of reference numerals

[0032] 1 resolver 2 excitation coil

[0033] 3 cosine detection coil 4 sine detection coil

[0034] 5 excitation circuit 6 differential amplifier

[0035] 7 angle calculation unit 8 A / D converter

[0036] 9 resolver rotor 10 angle calculator

[0037] 11 controller 12 permanent magnet synchronous motor

[0038] 13 detector DETAILED DESCRIPTION

[0039] Hereinafter, the embodiment of the control device according to the present application will be explained in detail based on the drawings. In addition, the present application is not limited to the present embodiment.

[0040] Embodiment 1

[0041] Figure 1 ​​​This is a structural block diagram illustrating Embodiment 1 of the present invention. In the diagram, the rotary transformer 1 is composed of an excitation coil 2, a sine wave detection coil 4 for detecting the rotary transformer rotor 9, and a cosine wave detection coil 3 for detecting the rotary transformer rotor 9. Through... Figure 2 The AC excitation voltage shown in curve (a) drives the excitation coil 2, thereby outputting a voltage at the output terminal of the sinusoidal detection coil 4. Figure 2 The sinusoidal signal shown in (c) is amplitude modulated according to the angle of the rotary transformer rotor 9, and is output at the output terminal of the cosine detection coil 3. Figure 2 The cosine signal shown in (b) is amplitude modulated according to the angle of the rotor 9 of the rotary transformer. Here, Figure 2 The horizontal axis in the figure represents the mechanical angle of the rotor 9 of the rotary transformer.

[0042] Next, the processing method of the signal output from the rotary transformer 1 will be described. Figure 1 In the middle, through excitation circuit 5, to Figure 2 The AC voltage signal shown in (a) drives the excitation coil 2 of the rotary transformer 1. The differential amplifier 6 differentially amplifies the voltage between the two output terminals of the sine detection coil 4 and the voltage between the two output terminals of the cosine detection coil 3 of the rotary transformer 1, and outputs them to the A / D converter 8 (i.e., analog-to-digital converter). The A / D converter 8 (i.e., analog-to-digital converter) acquires... Figure 2 (c) and Figure 2 The peak points of the sine and cosine values ​​represented in (b) are obtained as follows: Figure 3 The sine and cosine signals are represented by d and e in the diagram.

[0043] Figure 1 The angle calculator 10 outputs A, B, and Z signals based on the sine and cosine signals output by the A / D converter 8, corresponding to... Figure 3 The pulse signals A1, B2, and Z3 are shown. Controller 11 will count signals A and B to form a sequence as shown. Figure 3 The pulse count value f of the sawtooth wave corresponds to the mechanical angle of the rotor 9 of the rotary transformer. Since the rotor of the rotary transformer and the rotor of the permanent magnet synchronous motor are coaxially mounted together, it also corresponds to the mechanical angle of the rotor of the permanent magnet synchronous motor.

[0044] like Figure 1 As shown, in this embodiment, the rotor 9 of the rotary transformer has four waveforms, indicating that the rotary transformer has four pole pairs. Each rotation... Figure 1 The signals output by the sine coil 4 and cosine coil 3 will change for 4 cycles, such as... Figure 2 (b) and Figure 2 The peak value of the waveform shown in (c) Figure 1The cosine waveforms outputted by the A / D converter 8 in the angle calculation unit 7 will also change 4 periods. Figure 3 The middle pulse signal Z3 has 4 pulses, each of which corresponds Figure 3 The zero point of the middle cosine waveform d, also corresponds Figure 3 The zero point of the middle pulse count value f, these 4 zero points correspond to the zero points of each pair of poles of the resolver. If a certain Z signal is arbitrarily specified as the zero point position of the 1st pair of poles, then the Z signals of the 2nd, 3rd and 4th pair of poles follow, and when running in reverse, the Z signals of the 4th, 3rd and 2nd pair of poles follow. Such Z signal changes 4 times per revolution, and repeats endlessly.

[0045] The angle calculation unit 7 and the controller 11 in this embodiment are two independent components, but can also be integrated together, and the present application is not limited thereto.

[0046] In this embodiment, taking the resolver with N pairs of poles and the permanent magnet synchronous motor with M pairs of poles as examples, M, 2M, 3M, …, (N-1)M cannot be divided by N. If the zero point of a certain pair of poles of the resolver is aligned with the magnetic field of the permanent magnet of the rotor of the permanent magnet synchronous motor, that is, the magnetic pole angle of the zero point of this pair of poles is 0 degrees, then the magnetic pole angles of the zero points of the subsequent N-1 pairs of poles are degrees. Since M, 2M, 3M, …, (N-1)M cannot be divided by N, the magnetic pole angles of the zero points of these N pairs of poles are different. On this basis, when measuring the periodic error of the resolver or analyzing the amplitude and angle of a specific frequency, a certain pair of poles is arbitrarily specified as the starting point of recording the periodic error or frequency analysis, and the magnetic pole angle of the zero point of this pair of poles is learned, assumed as θ, and stored. The magnetic pole angles of the zero points of the subsequent N-1 pairs of poles are When the controller is powered on again after power failure or reset, first, the magnetic pole learning of the permanent magnet synchronous motor output voltage and current is performed, and the motor is driven to rotate. According to the learned magnetic pole angle, the magnetic pole angles of the zero points of each pair of poles of the resolver can be determined, and compared with the stored angle θ. The angle closest to the angle is the zero point of the pair of poles specified before power failure or reset, and the positioning of the pair of poles of the resolver is completed. Thereafter, the periodic error data or the amplitude and angle of a specific frequency stored can be used to calibrate the signals of the resolver, so as to suppress the periodic error caused by the assembly error or shape error of the resolver.

[0047] Embodiment Two

[0048] Figure 4is the structure block diagram of the second embodiment of the permanent magnet synchronous motor control device, wherein 12 is a permanent magnet synchronous motor, a resolver 1 is installed on the rotor shaft of the permanent magnet synchronous motor 12, an angle calculation unit 7 outputs the angle signal of the rotor of the permanent magnet synchronous motor 12 by collecting the sine and cosine signals output by the resolver, and outputs the angle signal to a controller 11, the controller 11 outputs the voltage to control the speed and torque of the permanent magnet synchronous motor 12 to drive the rotation of the rotor. In order to meet the principle that M, 2M, 3M, …, (N-1)M cannot be divided by N, the resolver of 4 pairs of poles is selected in this embodiment, and the permanent magnet synchronous motor of 9 pairs of poles is selected, so that 9, 2*9, 3*9 cannot be divided by 4.

[0049] In order to record the error caused by the periodic change depending on the rotation position of the resolver 1 due to the eccentricity or shape error of the rotor, a high-precision detector 13, such as an optical encoder, is additionally installed on the rotor shaft of the permanent magnet synchronous motor 12. Of course, the detector 13 does not necessarily need to be installed on the same rotating shaft as the resolver 1, as long as the rotor angle of the permanent magnet synchronous motor 12 can be accurately detected.

[0050] In order to facilitate comparison, the angle calculation unit 7 is configured to output 2048 A signals and B signals for each pair of poles of the resolver, and 8192 A signals and B signals can be output for each revolution of the 4 pairs of poles. The detector 13 is a high-precision encoder, for example, it can be an optical encoder that outputs 8192 A signals and B signals for each revolution.

[0051] The controller 11 drives the rotor of the permanent magnet synchronous motor 12 to rotate, and compares the count values of the A signals or B signals output by the resolver 1 and the detector 13, such as Figure 5 , the count value g is Figure 4 , the count value h is Figure 4 , the count value h is Figure 4 , the count value h is

[0052] Any zero point of a pair of poles is taken as the starting point of recording error data, the resolver rotates one revolution, and the deviation values of the count value g and the count value h in Figure 4 are recorded, such as Figure 6 . In order to improve the accuracy, several revolutions can be recorded, and the average value of the error data corresponding to each angle is taken. These error data need to be saved, and after saving the error data, the detector 13 in Figure 4 can be removed.

[0053] Next, the magnetic pole learning is entered. Figure 4In the embodiment, the rotor of the resolver 1 is coaxially installed with the rotor of the permanent magnet synchronous motor 12, and if the resolver 1 is not replaced, the relative positions of the rotor of the resolver 1 and the permanent magnets on the rotor of the permanent magnet synchronous motor 12 are determined. The magnetic pole angle θ of the zero point of a certain pole corresponding to the start point of the error data is learned through the magnetic pole learning, and the magnetic pole angle θ is determined by the following formula: Figure 7 The count value i of the resolver output pulse is 2048 pulses for each pole pair, 8192 pulses for each circle, the magnetic pole angle j of the permanent magnet synchronous motor is 9 times from 0° to 360° for each circle, the magnetic pole angle corresponding to the zero point of the first pole pair of the resolver is θ, and the magnetic pole angles corresponding to the zero points of the other three pole pairs are 90°+θ, 180°+θ and 270°+θ respectively. The magnetic pole angles corresponding to the zero points of the four pole pairs are different from each other.

[0054] After the system is powered off and powered on again or reset, the controller 11 cannot identify the correspondence between the Z signal output by the detector and the zero point of the pole pair determined during the last magnetic pole learning, and thus cannot use the stored periodic error data to correct the resolver signal to eliminate the periodic error. At this time, the magnetic pole learning mode needs to be entered again, and the motor is driven to rotate. After the magnetic pole learning is completed, the magnetic pole angles of the zero points of the pole pairs can be directly calculated and compared with θ. The Z signal with the smallest deviation from θ is the start point of the last recorded error data, and thus the corresponding pole pair of the remaining Z signal is determined.

[0055] After the order of the pole pairs is determined, the resolver error data stored can be used to compensate the resolver signal and improve the running performance of the elevator.

[0056] The magnetic pole learning of the permanent magnet synchronous motor is to determine the position of the permanent magnet on the rotor by using the saturation effect of the rotor permanent magnet, and then the speed and torque control of the permanent magnet synchronous motor can be performed.

[0057] In the embodiment, a detector 13 is additionally installed on the rotor of the permanent magnet synchronous motor 12 to record the error data between the rotor position output by the resolver 1 and the rotor position output by the detector 13. Of course, the detector 13 can not be installed, and the amplitude and phase angle of a specific frequency can be obtained by frequency analysis of the current of the permanent magnet synchronous motor 12 or the signal output by the resolver 3 through the controller 11. The start position point can be determined in the same way as determining the zero point of a certain pole pair. It should be understood by those skilled in the art that the present application is not limited thereto.

[0058] The above examples show and describe the basic principles and main features of the present application and the advantages of the present application. It should be understood by those skilled in the art that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only to illustrate the principles of the present application, but not to limit the scope of the present application in any way. Various changes and improvements can be made to the present application without departing from the scope of the present application, and these changes and improvements all fall within the scope of the claimed subject matter.

Claims

1. A control device for a permanent magnet synchronous motor, characterized in that, include: Permanent magnet synchronous motor, including rotor; A rotary transformer is mounted on the rotor shaft of a permanent magnet synchronous motor; the rotary transformer is used to output sine and cosine signals. An angle calculation unit is used to acquire the sine and cosine signals output by the rotary transformer and output the corresponding angle signal of the permanent magnet synchronous motor rotor. The controller is used to receive the angle signal output by the angle calculation unit, and output voltage and current to control the speed and torque of the permanent magnet synchronous motor, as well as drive the rotor of the permanent magnet synchronous motor to rotate. By applying voltage and current to the permanent magnet synchronous motor through the controller, the relative angles between the zero points of each pair of poles of the rotary transformer and the permanent magnets on the rotor of the permanent magnet synchronous motor are obtained, thereby identifying each pair of poles of the rotary transformer; The control method of the permanent magnet synchronous motor control device includes: By analyzing the frequency of the current in the permanent magnet synchronous motor or the signal output from the rotary transformer using the controller, the amplitude and phase angle at a specific frequency can be obtained. Arbitrarily specify the zero point of a certain pair of poles as the starting point for recording periodic errors or frequency analysis, and at the same time learn the magnetic pole angle of this pair of pole zero points, preset as angle θ, and store it. When the controller is powered off and then powered on or reset, it first performs magnetic pole learning on the output voltage and current of the permanent magnet synchronous motor and drives the motor to rotate. Based on the learned magnetic pole angles, the magnetic pole angles of each pair of pole zeros of the rotary transformer can be determined. The magnetic pole angles of each pair of zero points of the rotary transformer are compared with the stored angle θ. The angle closest to the stored angle is the zero point of the pair of zero points specified before power-off or reset, thus completing the pair-positioning of the rotary transformer.

2. The permanent magnet synchronous motor control device as described in claim 1, characterized in that, The rotary transformer includes: Excitation coil, A sinusoidal detection coil is used to detect the rotor of a rotary transformer; Cosine detection coil, used for detecting the rotor of a rotary transformer; The rotary transformer drives the excitation coil with AC excitation voltage, thereby outputting a sine signal with amplitude modulated according to the angle of the rotary transformer rotor at the output terminal of the sine detection coil, and outputting a cosine signal with amplitude modulated according to the angle of the rotary transformer rotor at the output terminal of the cosine detection coil.

3. The permanent magnet synchronous motor control device as described in claim 1, characterized in that, The number of pole pairs M of the permanent magnet synchronous motor and the number of pole pairs N of the rotary transformer satisfy the relationship that M, 2M, 3M, ..., (N-1)M cannot be divided by N, and M and N are both positive integers.

4. The permanent magnet synchronous motor control device as described in claim 2, characterized in that, The angle calculation unit includes: An excitation circuit is used to drive the excitation coil; A differential amplifier is used to differentially amplify the voltage between the output terminals of the sine detection coil and the voltage between the output terminals of the cosine detection coil and output a signal. An A / D converter is used to acquire the output signal of a differential amplifier and output sine and cosine signals. An angle calculator is used to acquire the sine and cosine signals output by the A / D converter and output pulse signals to the controller.

5. The permanent magnet synchronous motor control device as described in claim 4, characterized in that, The controller counts the pulse signals and generates a pulse count value, which corresponds to the mechanical angle of the rotor of the rotary transformer.

6. The permanent magnet synchronous motor control device as described in claim 1, characterized in that, The permanent magnet synchronous motor control device also includes: The detector records the error data between the rotor position output by the rotary transformer and the rotor position output by the detector.

7. The permanent magnet synchronous motor control device as described in claim 6, characterized in that, The detector is a high-precision encoder.

8. The permanent magnet synchronous motor control device according to claim 1, characterized in that, The angle calculation unit and the controller are two independent components, or the angle calculation unit and the controller are integrated into one component.

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