Motor control method, device and electronic equipment

Abstract

The present invention provides a motor control method, device and electronic device, wherein the method comprises: a current loop controller acquires the current of the motor; a feedforward compensation value of a voltage signal output by the current loop controller is calculated according to the acquired current of the motor; and the calculated feedforward compensation value is used to perform feedforward compensation on the voltage signal output by the current loop controller to obtain a voltage signal after feedforward compensation. The motor control method, device and electronic device provided by the embodiments of the present invention avoid the instability of the ultra-high-speed motor control closed-loop system under low frequency ratio conditions through feedforward compensation.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a motor control method, device and electronic equipment. Background Art

[0002] At present, motors with speeds higher than 90krpm are generally referred to as ultra-high-speed motors, which are widely used in flywheels, turbochargers, turbo compressors in fuel cells, etc. The situation where the ratio of the switching frequency to the fundamental frequency of the current at the maximum speed of the ultra-high-speed motor is as low as 10 is called a low frequency ratio situation. In the case of a low frequency ratio, the ultra-high-speed motor control closed-loop system is unstable. Summary of the invention

[0003] To solve the above problems, an object of the embodiments of the present invention is to provide a motor control method, device and electronic device.

[0004] In a first aspect, an embodiment of the present invention provides a motor control method, comprising:

[0005] The current loop controller obtains the current of the motor;

[0006] Calculating a feedforward compensation value of a voltage signal output by the current loop controller according to the acquired current of the motor;

[0007] The calculated feedforward compensation value is used to perform feedforward compensation on the voltage signal output by the current loop controller to obtain a voltage signal after feedforward compensation.

[0008] In a second aspect, an embodiment of the present invention further provides a motor control device, comprising:

[0009] An acquisition module is used to obtain the current of the motor;

[0010] A calculation module, used for calculating a feedforward compensation value of a voltage signal output by the current loop controller according to the acquired current of the motor;

[0011] The compensation module is used to perform feedforward compensation on the voltage signal output by the current loop controller using the calculated feedforward compensation value to obtain a voltage signal after feedforward compensation.

[0012] In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described in the first aspect are executed.

[0013] In a fourth aspect, an embodiment of the present invention further provides an electronic device, comprising a memory, a processor and one or more programs, wherein the one or more programs are stored in the memory and configured so that the processor executes the steps of the method described in the first aspect above.

[0014] In the schemes provided in the first to fourth aspects of the embodiments of the present invention, the obtained motor current is used to calculate the feedforward compensation value of the voltage signal output by the current loop controller, and then the calculated feedforward compensation value is used to perform feedforward compensation on the voltage signal output by the current loop controller to obtain the voltage signal after feedforward compensation. Compared with the unstable operation mode of the ultra-high-speed motor control closed-loop system under low frequency ratio in the related art, the voltage signal output by the current loop controller can be feedforward compensated by using the calculated feedforward compensation value of the voltage signal output by the current loop controller, thereby avoiding the instability of the ultra-high-speed motor control closed-loop system under low frequency ratio through the feedforward compensation method.

[0015] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A flow chart of a motor control method provided by Embodiment 1 of the present invention is shown;

[0018] Figure 2 A schematic diagram of the structure of a motor control device provided by Embodiment 2 of the present invention is shown;

[0019] Figure 3 A schematic structural diagram of an electronic device provided by Embodiment 3 of the present invention is shown. DETAILED DESCRIPTION

[0020] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0021] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0022] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] At present, motors with speeds higher than 90krpm are generally referred to as ultra-high-speed motors, which are widely used in flywheels, turbochargers, turbo compressors in fuel cells, etc. The situation where the ratio of the switching frequency to the fundamental frequency of the current at the maximum speed of the ultra-high-speed motor is as low as 10 is called a low frequency ratio situation. In the case of a low frequency ratio, the ultra-high-speed motor control closed-loop system is unstable.

[0024] Based on this, each embodiment of the present application proposes a motor control method, device and electronic device, which uses the obtained motor current to calculate the feedforward compensation value of the voltage signal output by the current loop controller, and then uses the calculated feedforward compensation value to perform feedforward compensation on the voltage signal output by the current loop controller to obtain the voltage signal after feedforward compensation. The voltage signal output by the current loop controller can be feedforward compensated by using the calculated feedforward compensation value of the voltage signal output by the current loop controller, thereby avoiding the instability of the ultra-high-speed motor control closed-loop system under low frequency ratio conditions through feedforward compensation. Moreover, it is insensitive to changes in motor parameters and can be directly improved on the current loop controller, and the parameter adjustment is simple.

[0025] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0026] Before describing a motor control method, device, and electronic device proposed in each embodiment of the present application, the following description is given.

[0027] The current loop controller is connected to the motor.

[0028] For the current loop controller of ultra-high-speed motors, the three-phase current of the motor is obtained by sampling, and then the d-axis and q-axis currents are obtained by coordinate transformation as the input of the current loop controller. The output voltage of the d-axis and q-axis is used as the output of the current loop controller. The output voltage of the controller is generated by the SVPWM module to generate a PWM wave, which is used to control the permanent magnet motor through the inverter. The transfer function of the inverter and the motor is P d (s).

[0029] The motor current loop controller transfer function used in the following embodiments of this application is It can be written as the following formula 1:

[0030]

[0031] Among them, M y is the transfer function before filtering, M u is the transfer function of the complex feedforward compensation, P d is the transfer function of the motor system after one step delay of the inverter, and C is the transfer function of the controller.

[0032] In a motor control method, device and electronic device proposed in each embodiment of the present application, a complex feedforward compensation part is added to the original current loop controller system of the motor, and a compensation transfer function M is used to compensate for the feedforward compensation. u To make the system transfer function Achieve the preset desired transfer function M y , realize the given output of the current controller. Try to avoid the instability of the ultra-high-speed motor control closed-loop system under low frequency ratio.

[0033] In formula (1), we need to tends to zero so that and M y Equal, that is, there is no effect on the desired transfer function. The implementation method includes: designing a feedforward compensation M through the motor current controller u The feedforward can be multiplied by the deviation of the plant transfer function from the desired transfer function (P d M u -M y ) tends to zero; at the same time, verify that P dC is always positive to ensure the feedback transfer function (1+P d C) not too small; finally compensate for the error of one-step sampling delay.

[0034] 1) Design feedforward compensation M in the motor current controller u Make (P d M u -M y ) tends to zero.

[0035] For a closed-loop motor system, the desired transfer function, M y is a low-pass filter without cross-coupling terms, that is:

[0036]

[0037] Among them, ω bw is the expected bandwidth. Combined with the one-step delay model of the inverter, the introduced compensation M can be obtained through mathematical processing. u The final form of the transfer function can be shown as the following formula (3):

[0038]

[0039] The expected bandwidth refers to the expected closed-loop transfer function bandwidth.

[0040] Example 1

[0041] The execution subject of the motor control method proposed in this embodiment is a server.

[0042] See also Figure 1 The present embodiment provides a motor control method, which includes the following specific steps:

[0043] Step 100: The current loop controller obtains the current of the motor.

[0044] In the above step 100, the current of the motor can be collected by a current sensor arranged on the motor. After collecting the current, the current sensor transmits the collected motor current to the current loop controller, so that the current loop controller obtains the motor current.

[0045] Step 102: Calculate a feedforward compensation value of a voltage signal output by the current loop controller according to the acquired current of the motor.

[0046] In the above step 102, the voltage signal includes: a d-axis voltage signal and a q-axis voltage signal.

[0047] In order to calculate the feedforward compensation value of the voltage signal output by the current loop controller according to the acquired current of the motor, the following steps (1) to (3) may be performed:

[0048] (1) performing coordinate transformation on the current of the motor to obtain the d-axis current and the q-axis current of the motor;

[0049] (2) Obtaining the desired bandwidth, resistance, inductance, preset current value, and motor electrical angular velocity;

[0050] (3) Based on the desired bandwidth, the resistance, the inductance, the preset current value and the motor electrical angular velocity, the d-axis current and the q-axis current of the motor, the feedforward compensation value of the d-axis voltage signal and the feedforward compensation value of the q-axis voltage signal output by the current loop controller are calculated.

[0051] In the above step (1), the specific process of performing coordinate transformation on the current of the motor to obtain the d-axis current and the q-axis current of the motor is prior art and will not be described in detail here.

[0052] In the above step (2), the expected bandwidth is a preset value, which is obtained according to the size of the output voltage signal. That is, the current loop controller is pre-set with a corresponding relationship between the size of the output voltage signal and the expected bandwidth, so the current loop controller can query the expected bandwidth corresponding to the size of the expected output voltage signal from the corresponding relationship between the size of the output voltage signal and the expected bandwidth according to the size of the voltage signal currently expected to be output by the current loop controller itself.

[0053] The preset current value is the magnitude of the current input to the low-pass filter.

[0054] The low-pass filter is arranged in the current loop controller.

[0055] The electrical angular velocity of the motor is obtained by multiplying the angular velocity of the motor rotor obtained by an angular velocity sensor arranged on the motor and the number of pole pairs of the motor.

[0056] The number of pole pairs of the motor is pre-cached in the current loop controller.

[0057] The resistor is used to represent the resistance value of the coil of the motor. The resistance value is a constant value and is pre-set in the current loop controller.

[0058] The inductance is used to represent the inductance value of the coil of the motor. The inductance value is a constant value and is pre-set in the current loop controller.

[0059] In the above step (3), the feedforward compensation value of the voltage signal output by the current loop controller is calculated by the following formula:

[0060]

[0061] Among them, u d_ff Indicates the feedforward compensation value of the d-axis voltage signal; u q_ff Represents the feedforward compensation value of the q-axis voltage signal; ω bw represents the expected bandwidth; R represents resistance; L represents inductance; s represents the preset current value; ω e Represents the electrical angular velocity of the motor; i d_ref Represents the d-axis current of the motor; i q_ref Indicates the q-axis current of the motor.

[0062] Step 104 : using the calculated feedforward compensation value, perform feedforward compensation on the voltage signal output by the current loop controller to obtain a voltage signal after feedforward compensation.

[0063] In the above step 104, the calculated feedforward compensation value is superimposed on the voltage signal output by the current loop controller, so as to perform feedforward compensation on the voltage signal output by the current loop controller to obtain a voltage signal after feedforward compensation.

[0064] The voltage signal after feedforward compensation includes: a d-axis voltage signal after feedforward compensation and a q-axis voltage signal after feedforward compensation.

[0065] After obtaining the voltage signal after feedforward compensation, it is necessary to verify P d C is always positive to ensure the feedback transfer function (1+P d C) not too small.

[0066] The motor controller C uses a traditional current loop (PI) controller. By verifying the gain change under different base frequency currents, it can be proved that the gain is greater than zero in the entire frequency range. The following formula (5) is always valid. Therefore, the motor controller C can choose a PI controller.

[0067]

[0068] Among them, P d represents the transfer function of the motor system after one step of inverter delay, C represents the transfer function of the controller, K p and K i represents the parameters of the PI controller, T s Indicates the sampling period of the current.

[0069] K p and K i is the set value, which is pre-stored in the above-mentioned PI controller.

[0070] After verifying P d C is always positive to ensure the feedback transfer function (1+P d C) is not too small, the following steps (10) to (12) can be continued to perform phase shifting on the voltage signal after the feedforward compensation:

[0071] (10) obtaining a sampling period of the current, and calculating a phase compensation value of the voltage of the motor using the sampling period of the current and the electrical angular velocity of the motor;

[0072] (11) performing a phase shift operation on the d-axis voltage signal after the feedforward compensation according to the calculated phase compensation value of the motor voltage to obtain the d-axis output voltage, and performing a phase shift operation on the q-axis voltage signal after the feedforward compensation to obtain the q-axis output voltage;

[0073] (12) The d-axis output voltage and the q-axis output voltage are transmitted to the motor.

[0074] In the above step (10), the current sampling period is the sampling period of the motor current by the PI controller.

[0075] Specifically, the phase compensation value of the motor voltage is calculated by using the sampling period and the motor electrical angular velocity, including:

[0076] The phase compensation value of the motor voltage is calculated by the following formula:

[0077]

[0078] Among them, K(ω e ,T s ) represents the phase compensation value of the motor voltage; ω e Indicates the electrical angular velocity of the motor; T s Indicates the sampling period of the current.

[0079] In the above step (11), according to the calculated phase compensation value of the motor voltage, the d-axis voltage signal after the feedforward compensation is phase-shifted to obtain the specific process of the d-axis output voltage, and the q-axis voltage signal after the feedforward compensation is phase-shifted to obtain the specific process of the q-axis output voltage are both existing technologies and will not be repeated here.

[0080] In the above step (12), sending the d-axis output voltage and the q-axis output voltage to the motor means sending the phase-shifted voltage command to the motor for execution.

[0081] Through the above steps (10) to (12), the current loop controller can also compensate for the one-step sampling delay, further realizing the stable operation of the ultra-high-speed motor.

[0082] In summary, this embodiment proposes a motor control method, which uses the obtained motor current to calculate the feedforward compensation value of the voltage signal output by the current loop controller, and then uses the calculated feedforward compensation value to perform feedforward compensation on the voltage signal output by the current loop controller to obtain the voltage signal after feedforward compensation. Compared with the unstable operation mode of the ultra-high-speed motor control closed-loop system under low frequency ratio in the related art, the voltage signal output by the current loop controller can be feedforward compensated by using the calculated feedforward compensation value of the voltage signal output by the current loop controller, thereby avoiding the instability of the ultra-high-speed motor control closed-loop system under low frequency ratio through the feedforward compensation method.

[0083] Example 2

[0084] This embodiment provides a motor control device, which is used to execute a motor control method provided in the above-mentioned embodiment 1.

[0085] See also Figure 2 The structural diagram of a motor control device shown in FIG. 1 is a schematic diagram of a motor control device, and this embodiment provides a motor control device, including:

[0086] An acquisition module 200 is used to acquire the current of the motor;

[0087] A calculation module 202, configured to calculate a feedforward compensation value of a voltage signal output by the current loop controller according to the acquired current of the motor;

[0088] The compensation module 204 is used to perform feedforward compensation on the voltage signal output by the current loop controller using the calculated feedforward compensation value to obtain a voltage signal after feedforward compensation.

[0089] The voltage signal includes: a d-axis voltage signal and a q-axis voltage signal.

[0090] The calculation module 202 is specifically used for:

[0091] Performing coordinate transformation on the current of the motor to obtain the d-axis current and the q-axis current of the motor;

[0092] Obtain the desired bandwidth, resistance, inductance, preset current value and motor electrical angular velocity;

[0093] Based on the expected bandwidth, the resistance, the inductance, the preset current value and the motor electrical angular velocity, the d-axis current and the q-axis current of the motor, the feedforward compensation value of the d-axis voltage signal and the feedforward compensation value of the q-axis voltage signal output by the current loop controller are calculated.

[0094] Specifically, the calculation module 202 is used to calculate the feedforward compensation value of the d-axis voltage signal and the feedforward compensation value of the q-axis voltage signal output by the current loop controller based on the expected bandwidth, the resistance, the inductance, the preset current value and the motor electrical angular velocity, the d-axis current and the q-axis current of the motor, including:

[0095] The feedforward compensation value of the voltage signal output by the current loop controller is calculated by the following formula:

[0096]

[0097] Among them, u d_ff Indicates the feedforward compensation value of the d-axis voltage signal; u q_ff Represents the feedforward compensation value of the q-axis voltage signal; ω bw represents the expected bandwidth; R represents resistance; L represents inductance; s represents the preset current value; ω e Represents the electrical angular velocity of the motor; i d_ref Represents the d-axis current of the motor; i q_ref Indicates the q-axis current of the motor.

[0098] In summary, this embodiment proposes a motor control device, which uses the obtained motor current to calculate the feedforward compensation value of the voltage signal output by the current loop controller, and then uses the calculated feedforward compensation value to perform feedforward compensation on the voltage signal output by the current loop controller to obtain the voltage signal after feedforward compensation. Compared with the unstable operation mode of the ultra-high-speed motor control closed-loop system under low frequency ratio in the related art, the voltage signal output by the current loop controller can be feedforward compensated by using the calculated feedforward compensation value of the voltage signal output by the current loop controller, thereby avoiding the instability of the ultra-high-speed motor control closed-loop system under low frequency ratio by feedforward compensation.

[0099] Example 3

[0100] This embodiment provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the motor control method described in the above embodiment 1 are executed. The specific implementation can be found in method embodiment 1, which will not be described in detail here.

[0101] In addition, see Figure 3The structural diagram of an electronic device shown in FIG. 1 is a schematic diagram of a structure of an electronic device. This embodiment further provides an electronic device, which includes a bus 51 , a processor 52 , a transceiver 53 , a bus interface 54 , a memory 55 and a user interface 56 . The electronic device includes a memory 55 .

[0102] In this embodiment, the electronic device further includes: one or more programs stored in the memory 55 and executable on the processor 52, and configured so that the processor executes the one or more programs to perform the following steps (1) to (3):

[0103] (1) Obtaining the current of the motor;

[0104] (2) calculating a feedforward compensation value of a voltage signal output by the current loop controller according to the acquired current of the motor;

[0105] (3) Using the calculated feedforward compensation value, feedforward compensation is performed on the voltage signal output by the current loop controller to obtain a voltage signal after feedforward compensation.

[0106] The transceiver 53 is used to receive and send data under the control of the processor 52.

[0107] Among them, the bus architecture (represented by bus 51), bus 51 can include any number of interconnected buses and bridges, and bus 51 links various circuits including one or more processors represented by processor 52 and memory represented by memory 55. Bus 51 can also link various other circuits such as peripherals, voltage regulators, and power management circuits together, which are all well known in the art, so this embodiment will not be further described. Bus interface 54 provides an interface between bus 51 and transceiver 53. Transceiver 53 can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. For example: transceiver 53 receives external data from other devices. Transceiver 53 is used to send data processed by processor 52 to other devices. Depending on the nature of the computing system, a user interface 56, such as a keypad, display, speaker, microphone, joystick, can also be provided.

[0108] The processor 52 is responsible for managing the bus 51 and general processing, such as running a general operating system as mentioned above, while the memory 55 can be used to store data used by the processor 52 when performing operations.

[0109] Optionally, the processor 52 may be, but is not limited to: a central processing unit, a single-chip microcomputer, a microprocessor or a programmable logic device.

[0110] It can be understood that the memory 55 in the embodiment of the present invention can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct RAM bus random access memory (DRRAM). The memory 55 of the system and method described in the present embodiment is intended to include, but is not limited to, these and any other suitable types of memory.

[0111] In some implementations, the memory 55 stores the following elements, executable modules or data structures, or a subset thereof, or an extended set thereof: an operating system 551 and application programs 552 .

[0112] The operating system 551 includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application 552 includes various application programs, such as a media player (Media Player), a browser (Browser), etc., which are used to implement various application services. The program for implementing the method of the embodiment of the present invention can be included in the application 552.

[0113] In summary, this embodiment proposes a computer-readable storage medium and an electronic device, which uses the obtained motor current to calculate the feedforward compensation value of the voltage signal output by the current loop controller, and then uses the calculated feedforward compensation value to perform feedforward compensation on the voltage signal output by the current loop controller to obtain the voltage signal after feedforward compensation. Compared with the unstable operation mode of the ultra-high-speed motor control closed-loop system under low frequency ratio in the related art, the voltage signal output by the current loop controller can be feedforward compensated by using the calculated feedforward compensation value of the voltage signal output by the current loop controller, thereby avoiding the instability of the ultra-high-speed motor control closed-loop system under low frequency ratio through the feedforward compensation method.

[0114] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A motor control method, characterized in that: include: The current loop controller obtains the current of the motor; Calculating a feedforward compensation value of a voltage signal output by the current loop controller according to the acquired current of the motor; Performing feedforward compensation on the voltage signal output by the current loop controller using the calculated feedforward compensation value to obtain a voltage signal after feedforward compensation; The voltage signal includes: a d-axis voltage signal and a q-axis voltage signal; The calculating of the feedforward compensation value of the voltage signal output by the current loop controller according to the acquired current of the motor comprises: Performing coordinate transformation on the current of the motor to obtain the d-axis current and the q-axis current of the motor; Obtain the desired bandwidth, resistance, inductance, preset current value and motor electrical angular velocity; Based on the expected bandwidth, the resistance, the inductance, the preset current value and the motor electrical angular velocity, the d-axis current and the q-axis current of the motor, the feedforward compensation value of the d-axis voltage signal output by the current loop controller and the feedforward compensation value of the q-axis voltage signal are calculated; based on the expected bandwidth, the resistance, the inductance, the preset current value and the motor electrical angular velocity, the d-axis current and the q-axis current of the motor, the feedforward compensation value of the d-axis voltage signal output by the current loop controller and the feedforward compensation value of the q-axis voltage signal are calculated, including: The feedforward compensation value of the voltage signal output by the current loop controller is calculated by the following formula: Among them, u d_ff Indicates the feedforward compensation value of the d-axis voltage signal; u q_ff Represents the feedforward compensation value of the q-axis voltage signal; ω bw represents the expected bandwidth; R represents resistance; L represents inductance; s represents the preset current value; ω e Represents the electrical angular velocity of the motor; i d_ref Represents the d-axis current of the motor; i q_ref Indicates the q-axis current of the motor; the voltage signal after feedforward compensation includes: a d-axis voltage signal after feedforward compensation and a q-axis voltage signal after feedforward compensation; The method further comprises: Obtaining a sampling period of the current, and calculating a phase compensation value of the voltage of the motor using the sampling period of the current and the electrical angular velocity of the motor; According to the calculated phase compensation value of the motor voltage, a phase shift operation is performed on the d-axis voltage signal after the feedforward compensation to obtain the output voltage of the d-axis, and a phase shift operation is performed on the q-axis voltage signal after the feedforward compensation to obtain the output voltage of the q-axis; Sending the output voltage of the d-axis and the output voltage of the q-axis to the motor; calculating the phase compensation value of the voltage of the motor using the sampling period and the electrical angular velocity of the motor, including: The phase compensation value of the motor voltage is calculated by the following formula: Among them, K(ω e , T s ) represents the phase compensation value of the motor voltage; ω e Indicates the electrical angular velocity of the motor; T s Indicates the sampling period of the current.

2. A motor control device, characterized in that: include: An acquisition module is used to acquire the current of the motor; A calculation module, used to calculate a feedforward compensation value of a voltage signal output by a current loop controller according to the acquired current of the motor; A compensation module, used to perform feedforward compensation on the voltage signal output by the current loop controller using the calculated feedforward compensation value, so as to obtain a voltage signal after feedforward compensation; the voltage signal includes: a d-axis voltage signal and a q-axis voltage signal; The computing module is specifically used for: Performing coordinate transformation on the current of the motor to obtain the d-axis current and the q-axis current of the motor; Obtain the desired bandwidth, resistance, inductance, preset current value and motor electrical angular velocity; Based on the expected bandwidth, the resistance, the inductance, the preset current value and the motor electrical angular velocity, the d-axis current and the q-axis current of the motor, the feedforward compensation value of the d-axis voltage signal output by the current loop controller and the feedforward compensation value of the q-axis voltage signal are calculated; the calculation module is used to calculate the feedforward compensation value of the d-axis voltage signal output by the current loop controller and the feedforward compensation value of the q-axis voltage signal based on the expected bandwidth, the resistance, the inductance, the preset current value and the motor electrical angular velocity, the d-axis current and the q-axis current of the motor, including: The feedforward compensation value of the voltage signal output by the current loop controller is calculated by the following formula: Among them, u d_ff Indicates the feedforward compensation value of the d-axis voltage signal; u q_ff Represents the feedforward compensation value of the q-axis voltage signal; ω bw represents the expected bandwidth; R represents resistance; L represents inductance; s represents the preset current value; ω e Represents the electrical angular velocity of the motor; i d_ref Represents the d-axis current of the motor; i q_ref Represents the q-axis current of the motor; The voltage signal after feedforward compensation includes: a d-axis voltage signal after feedforward compensation and a q-axis voltage signal after feedforward compensation; The compensation module is further specifically used for: Obtaining a sampling period of the current, and calculating a phase compensation value of the voltage of the motor using the sampling period of the current and the electrical angular velocity of the motor; According to the calculated phase compensation value of the motor voltage, a phase shift operation is performed on the d-axis voltage signal after the feedforward compensation to obtain the output voltage of the d-axis, and a phase shift operation is performed on the q-axis voltage signal after the feedforward compensation to obtain the output voltage of the q-axis; Sending the output voltage of the d-axis and the output voltage of the q-axis to the motor; calculating the phase compensation value of the voltage of the motor using the sampling period and the electrical angular velocity of the motor, including: The phase compensation value of the motor voltage is calculated by the following formula: Among them, K(ω e , T s ) represents the phase compensation value of the motor voltage; ω e Indicates the electrical angular velocity of the motor; T s Indicates the sampling period of the current.

3. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 1 are executed.

4. An electronic device, characterized in that: The electronic device includes a memory, a processor, and one or more programs, wherein the one or more programs are stored in the memory and are configured so that the processor executes the steps of the method according to claim 1.

Images