Motor control method, controller, chip and vehicle

Abstract

The present invention belongs to the field of intelligent control technology and discloses a motor control method, controller, chip and vehicle through embodiments. The control method combines a table lookup method with a virtual signal injection method, overcoming the technical problem that the table lookup method is difficult to adapt to changes in working conditions, while retaining the advantage of the table lookup method in response speed. First, the current operating point data is obtained by table lookup, and then the control of the motor is converted into a signal processing process of several control quantities through decoupling processing. Then, by introducing the compensation process of the virtual signal injection method, the torque output is optimized at the current operating point.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent control technology, and in particular relates to a motor control method, a controller, a chip and a vehicle. Background Art

[0002] Motor control methods based on the Maximum Torque Per Ampere (MTPA) ratio are widely used. Table lookup methods are often used to achieve faster torque response. Torque compensation is achieved by offline obtaining an MTPA calibration curve at a specific rotor temperature. However, due to the wide range of rotor temperatures in practical applications, the motor's flux and inductance parameters vary with temperature, making the single-temperature MTPA method unsuitable. Summary of the Invention

[0003] Embodiments of the present invention disclose a motor control method, controller, chip, and vehicle. Based on the MTPA method using a table lookup method and combined with a virtual signal injection method, a virtual high-frequency current signal is injected into the motor's torque equation, and then the motor is adjusted based on the high-frequency component in the obtained torque equation, thereby enabling the motor to operate at the MTPA point.

[0004] The motor control method initializes the environmental conditions of the control system by acquiring the control parameters of the motor, and can also obtain other parameters or boundary conditions of the control system through real-time measurement when necessary.

[0005] The above-mentioned control parameters include parameters that are preset or obtained by real-time measurement; the control parameters also include first calibration data obtained based on the required torque; the calibration data provides an initial working point for the motor control, so that the injection of the virtual signal used in conjunction with it will not be insufficient to cope with the disturbance of environmental variables or load due to excessive deviation.

[0006] Furthermore, a first group of control signals is collected and a first decoupling process is performed; wherein the first group of control signals includes typical control information, which is generally the phase current signal of the motor here; the first decoupling process obtains a first control quantity and a second control quantity corresponding to the first group of control signals through information transformation; the first group of control signals is used to provide feedback to the motor control system to adjust the output assignment or related characteristics of the actuator.

[0007] Furthermore, by collecting a second set of control signals and performing a second decoupling process: wherein the second set of control signals usually includes a voltage signal, the second decoupling process obtains a third control quantity and a fourth control quantity corresponding to the second set of control signals through information transformation; the second set of control signals can also be used as feedback, and can also be used in intelligent control algorithms to provide intermediate variables for software-based control methods.

[0008] Furthermore, by calculating a first compensation angle that matches the current rotational speed, a quantitative excitation signal can be provided to the actuator or unit; wherein the first compensation angle is calculated by a virtual signal injection method.

[0009] Furthermore, by acquiring a first given parameter and a second given parameter, a given value is provided for the decoupled control unit; and the output is adjusted based on a deviation control method; wherein the acquisition of the first given parameter depends on the first compensation angle, the first calibration data and the second calibration parameter.

[0010] After that, by comparing the differences between the first given parameter and the second given parameter and their respective actual measured values, the pulse width modulation method is used to adjust the motor drive module to achieve the torque output at the current first working point, so that the motor operates at the MTPA point, overcomes the adverse effects of external disturbances, and improves the robustness and accuracy of control.

[0011] Specifically, the first calibration data is generally obtained offline, or the calibration value can be obtained dynamically online; wherein, the first calibration data usually includes the MTPA curve of the motor; the MTPA curve is stored in a computer-readable storage unit in a tabular form or in a preset data structure to provide calibration data to the control system in real time.

[0012] Specifically, the first calibration data may be current data; the first calibration current data may be the d-axis current id_Tab obtained by looking up a table; wherein the first decoupling process may include Clark transformation and / or Park transformation; so that the phase current obtains the dq-axis current idm, iqm after the first decoupling process.

[0013] Among them, the MTPA curve is usually calibrated at a preset first temperature, which is selected according to the preset statistics based on the motor's operating condition big data or according to the preset operating condition of the controlled motor; its first operating point can be the maximum torque current ratio MTPA point of the motor.

[0014] Furthermore, the third control quantity and the fourth control quantity can be selected as the dq axis voltage udm, uqm of the motor; and the dq axis voltage udm, uqm can be obtained by Park transformation of the phase voltage of the motor; wherein, the phase voltage can be obtained by processing or transforming the output duty cycle of each phase obtained in the SVPWM module and the bus voltage udc obtained by the bus voltage sensor.

[0015] Among them, the second input quantity of the virtual signal injection method includes the dq axis voltage udm, uqm, and the current idm, iqm and the current speed ωr; the first compensation angle is obtained by the maximum torque current ratio control module after integrating the second input quantity.

[0016] Furthermore, the current given q-axis current iq_des can be calculated based on the current required torque, flux linkage Ψf, the dq-axis inductance difference Ld-Lq, and the given d-axis current id_des.

[0017] Specifically, the current angle gTab corresponding to the table lookup method can be calculated based on the d-axis current id_Tab and the given q-axis current iq_des obtained by table lookup, and the current angle gdelta that needs to be compensated calculated based on the virtual signal injection method is added to obtain the given current angle gdes. Then, the given current amplitude is_des is calculated based on the given d-axis current id_des and the given q-axis current iq_des, and the given d-axis current id_des is calculated using the given current amplitude is_des and the given current angle gdes.

[0018] Furthermore, the given dq-axis currents id_des and iq_des can be compared with the actual fed-back dq-axis currents idm and iqm to obtain the dq-axis current differences eid and eiq. By adopting a PI controller, the given dq-axis voltages ud_des and uq_des are calculated based on the dq-axis current differences eid and eiq, and the given dq-axis voltages are input into the SVPWM control module to obtain switching signals, and the inverter is controlled to achieve MTPA control.

[0019] Among them, the first compensation angle is obtained by the maximum torque current ratio control module VI-MTPA processing of the virtual signal injection; the VI-MTPA processing includes: obtaining a first compensation parameter vector, passing the dq axis voltage udm, uqm, the current idm, iqm and the speed ωr through a low-pass filter to obtain the filtered dq axis voltage ud, uq, the current id, iq and the current speed ωm.

[0020] Furthermore, the current amplitude Im and current phase angle β are calculated from the filtered dq-axis currents id and iq. A high-frequency signal ∆β is injected into the current phase angle β, and the dq-axis currents ihd and ihq containing high-frequency components are calculated using the current amplitude Im and the current phase angle β+∆β containing the high-frequency signal.

[0021] Among them, the first compensation angle is obtained through digital filtering; in addition, the motor corresponding to this control method usually operates in the base speed area, but it is still applicable to other working areas. Its robustness is due to the use of virtual signal injection; it takes into account the response speed of the table lookup method and the wider adjustment capability of the signal injection method.

[0022] It should be noted that the above-mentioned motor may generally be a three-phase interior permanent magnet synchronous motor (3P-IPMSM), but the method disclosed in the embodiment of the present invention is also applicable to other motors or systems with measurable MTPA points.

[0023] The embodiment of the present invention further discloses an MTPA controller, which includes a signal acquisition unit, a data processing unit, a filtering and compensation unit, and an adjustment and output unit.

[0024] The signal acquisition unit obtains the control parameters of the motor; the control parameters include parameters that are preset or obtained by real-time measurement, and also include first calibration data obtained according to the required torque.

[0025] The data processing unit collects a first set of control signals and performs a first decoupling process; wherein the first set of control signals includes a phase current signal, and the first decoupling process obtains a first control quantity and a second control quantity corresponding to the first set of control signals through information transformation for subsequent processing.

[0026] In addition, the data processing unit collects a second set of control signals and performs a second decoupling process: wherein the second set of control signals includes a voltage signal, and the second decoupling process obtains a third control quantity and a fourth control quantity corresponding to the second set of control signals through information transformation, so as to provide intermediate variables for the control unit.

[0027] The filtering compensation unit calculates a first compensation angle that matches the current rotation speed; wherein the first compensation angle is obtained by calculating through a virtual signal injection method.

[0028] The adjustment output unit obtains a first given parameter and solves a second given parameter corresponding to the first given parameter; wherein the acquisition of the first given parameter depends on the first compensation angle, the first calibration data and the second calibration parameter.

[0029] Furthermore, the adjustment output unit compares the difference between the first given parameter and the second given parameter and the measured value, and uses pulse width modulation to adjust the driving module of the motor to obtain the torque output at a preset first working point.

[0030] Among them, the second input quantity of the virtual signal injection method includes the dq axis voltage udm, uqm, and the current idm, iqm and the current speed ωr; the first compensation angle is obtained by the maximum torque current ratio control module after integrating the second input quantity.

[0031] Furthermore, based on the d-axis current id_Tab and the given q-axis current iq_des obtained by table lookup, the current angle gTab corresponding to the table lookup method is calculated, and the current angle gdelta that needs to be compensated calculated based on the virtual signal injection method is added to obtain the given current angle gdes. Based on the given d-axis current id_des and the given q-axis current iq_des, the given current amplitude is_des is calculated, and the given d-axis current id_des is calculated using the given current amplitude is_des and the given current angle gdes.

[0032] Furthermore, the given dq axis currents id_des and iq_des are compared with the actual fed-back dq axis currents idm and iqm to obtain the dq axis current difference eid and eiq. The PT controller is used to calculate the given dq axis voltages ud_des and uq_des based on the dq axis current difference eid and eiq. The given dq axis voltages are input into the SVPWM control module to obtain switching signals, and the inverter is controlled to achieve MTPA control.

[0033] The methods disclosed in the above embodiments are also applicable to the implementation of a control chip, the main body of which includes a storage medium for storing computer programs; when the computer program is executed by a microprocessor, any of the above methods can be implemented.

[0034] In addition, as an important application field of motors, for electric vehicles, if any controller or chip disclosed in the embodiments of the present invention is adopted, MTPA control of the motor can also be achieved.

[0035] The present invention discloses a motor control method, controller, chip and vehicle through embodiments; its control method combines a table lookup method with a virtual signal injection method, overcoming the technical problem that the table lookup method is difficult to adapt to changes in working conditions, while retaining the advantage of the table lookup method in response speed; first, the current operating point data is obtained by table lookup, and then through decoupling processing, the control of the motor is converted into a signal processing process of several control quantities, and then by introducing the compensation process of the virtual signal injection method, the torque output is optimized at the current operating point.

[0036] It should be noted that the terms "first", "second" and similar terms used in this article are only for describing the various components of the technical solution, and do not constitute a limitation of the technical solution, nor can they be understood as an indication or suggestion of the importance of the corresponding elements; elements with terms such as "first", "second" and similar terms indicate that the corresponding technical solution contains at least one of the element. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solution of the present invention and facilitate a further understanding of the technical effects, technical features and purposes of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings. The accompanying drawings constitute an essential part of the specification and are used together with the embodiments of the present invention to illustrate the technical solution of the present invention, but do not constitute a limitation to the present invention.

[0038] The same reference numerals in the accompanying drawings represent the same components, specifically:

[0039] Figure 1 Schematic diagram of a process of an embodiment of the method of the present invention;

[0040] Figure 2 Schematic diagram of the control principle of the method and controller embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram of the virtual signal injection and parameter compensation process of an embodiment of the method of the present invention;

[0042] Figure 4 Schematic diagram of the method and controller parameter compensation principle of the present invention;

[0043] Figure 5 This is a schematic diagram of the structure of a controller embodiment of the present invention;

[0044] in:

[0045] 100- Steps to obtain preset control parameters,

[0046] 101-first calibration data,

[0047] 103- first control amount,

[0048] 105- second control amount,

[0049] 111-Signal acquisition unit;

[0050] 200- The step of collecting control signals and performing decoupling processing,

[0051] 201- first compensation angle,

[0052] 222-Data processing unit,

[0053] 300- Solve the compensation data and complete the parameter synthesis steps,

[0054] 301-the step of obtaining a first compensation parameter vector,

[0055] 302-Steps for calculating high frequency compensation components,

[0056] 303- Step of extracting characteristic components corresponding to the compensation torque,

[0057] 304-step of extracting the second compensation parameter,

[0058] 333-filter compensation unit;

[0059] 400-Steps to compensate preset control parameters and adjust torque output,

[0060] 401-First given parameter,

[0061] 402-Second given parameter,

[0062] 444-Adjust output unit. DETAILED DESCRIPTION

[0063] The present invention will be further described in detail below with reference to the accompanying drawings and examples. Of course, the specific embodiments described below are only intended to explain the technical solutions of the present invention, rather than to limit the present invention. In addition, the parts described in the embodiments or drawings are merely illustrative of the relevant parts of the present invention, rather than the entire present invention.

[0064] like Figure 1 As shown, an embodiment of the method of the present invention includes the following steps: step 100 of obtaining preset control parameters, step 200 of collecting control signals and performing decoupling processing, step 300 of solving compensation data and completing parameter synthesis, and step 400 of compensating for preset control parameters and adjusting torque output.

[0065] In step 100, the software part of the control unit is initialized by obtaining the control parameters of the motor; wherein the control parameters include parameters that are preset or obtained by real-time measurement; and the control parameters also include first calibration data 101 obtained according to the required torque.

[0066] Furthermore, if Figure 1 By collecting the first group of control signals and performing a first decoupling process to realize a parameterized control process, the regulation of the controlled motor is converted into a signal processing process or a solution process of a plurality of workloads; wherein the first group of control signals includes phase current signals, and the first decoupling process obtains a first control quantity 103 and a second control quantity 105 corresponding to the first group of control signals through information transformation.

[0067] By collecting the second group of control signals and performing a second decoupling process: wherein the second group of control signals includes voltage signals, the second decoupling process obtains a third control variable and a fourth control variable corresponding to the second group of control signals through information transformation.

[0068] At this time, intermediate data for the calculation of a given d-axis current is prepared by solving a first compensation angle 201 that matches the current rotation speed; wherein the first compensation angle 201 is obtained by calculating through a virtual signal injection method.

[0069] Furthermore, if Figure 2 By obtaining the first given parameter 401 and solving the second given parameter 402 corresponding to the first given parameter 401, a given quantity is prepared for the input end of the PI controller; wherein the acquisition of the first given parameter 401 depends on the first compensation angle 201, the first calibration data 101 and the second calibration parameter 402.

[0070] By comparing the differences between the first given parameter 401 and the second given parameter 402 and their respective actual measured values, the pulse width modulation method is used to adjust the driving module of the motor, thereby achieving the torque output at the current first working point.

[0071] Specifically, if Figure 2 and Figure 3 , wherein the first calibration data 101 is obtained offline, including the MTPA curve of the controlled motor; the MTPA curve is stored in a computer-readable storage unit in a table form.

[0072] The first calibration data 101 includes first calibration current data; the first calibration current obtained by table lookup is the d-axis current id_Tab. The phase currents can then be transformed using a Park transform to obtain the d / q-axis currents idm and iqm. Since the MTPA curve is calibrated at a preset first temperature, the control method at the corresponding operating point is applicable to a conventional table lookup method. The first temperature is selected based on the motor's operating condition data according to preset statistics or based on the preset operating conditions of the controlled motor.

[0073] When the working condition changes, the present invention introduces a compensation mechanism, that is, through the injection of virtual signals, it ensures that the first working point is the maximum torque current ratio MTPA point of the motor; wherein, Figure 3 The virtual signal injection process includes step 301 of obtaining a first compensation parameter vector, step 302 of solving a high-frequency compensation component, step 303 of extracting a characteristic component corresponding to the compensation torque, and step 304 of extracting a second compensation parameter.

[0074] Specifically, if Figure 2 and Figure 3 The third control quantity and the fourth control quantity are respectively the dq axis voltage udm, uqm of the motor; the dq axis voltage udm, uqm is obtained by Park transformation of the phase voltage of the motor; the phase voltage is obtained by processing the output duty cycle of each phase obtained in the SVPWM module and the bus voltage udc obtained by the bus voltage sensor.

[0075] The second input of the virtual signal injection method includes the dq axis voltages udm, uqm, the currents idm, iqm and the current speed ωr; the first compensation angle 201 is obtained by the maximum torque current ratio control module after integrating the second input.

[0076] Specifically, the current given q-axis current iq_des can be calculated based on the current required torque, flux linkage Ψf, dq-axis inductance difference Ld-Lq, and given d-axis current id_des.

[0077] Among them, the d-axis current id_Tab and the given q-axis current iq_des obtained by table lookup are included. The current angle gTab corresponding to the table lookup method is calculated, and the current angle gdelta that needs to be compensated calculated based on the virtual signal injection method is added to obtain the given current angle gdes. Then, the given current amplitude is_des is calculated based on the given d-axis current id_des and the given q-axis current iq_des. The given d-axis current id_des is calculated using the given current amplitude is_des and the given current angle des.

[0078] Furthermore, the given dq axis currents id_des and iq_des are compared with the actual fed-back dq axis currents idm and iqm to obtain the dq axis current difference eid and eiq. The PT controller is used to calculate the given dq axis voltages ud_des and uq_des based on the dq axis current difference eid and eiq. The given dq axis voltages are input into the SVPWM control module to obtain switching signals, and the inverter is controlled, thereby realizing MTPA control.

[0079] Among them, the first compensation angle 201 is obtained by the maximum torque current ratio control module VI-MTPA processing of the virtual signal injection; the VI-MTPA processing includes: obtaining the first compensation parameter vector 301, and passing the dq axis voltage udm, uqm, and the current idm, iqm and the speed ωr through a low-pass filter to obtain the filtered dq axis voltage ud, uq, and the current id, iq and the current speed ωm.

[0080] Furthermore, the current amplitude Im and current phase angle β are calculated from the filtered dq-axis currents id and iq; a high-frequency signal ∆β is injected into the current phase angle β, and the dq-axis currents ihd and ihq containing high-frequency components are calculated using the current amplitude Im and the current phase angle β+∆β containing the high-level signal; and a first compensation angle 201 is obtained through digital filtering; wherein, the motor corresponding to the control method operates in the base speed region; and its controlled motor includes a three-phase embedded permanent magnet synchronous motor 3P-IPMSM.

[0081] where Im and the phase angle β are given by:

[0082] ;

[0083] ∆β and ihd, ihq are given by the following formula:

[0084]

[0085]

[0086] Where A is the amplitude of the injected signal, ωh is the frequency of the high-frequency signal;

[0087] For the three-phase embedded permanent magnet synchronous motor 3P-IPMSM, the electromagnetic torque of the high-frequency component can be T h e The Taylor expansion is as follows:

[0088]

[0089]

[0090] Then we have:

[0091]

[0092] Where R is the line resistance of the motor and p is the number of pole pairs of the motor.

[0093] Torque containing high-frequency components T h e , the center frequency can be ω h The bandpass filter extracts A sin( ω h t )∂ T e / ∂ β component, and then the signal extracted by the bandpass filter is compared with the sin( ω h t) and multiply them to get:

[0094]

[0095] Where k is the gain coefficient of the bandpass filter.

[0096] Furthermore, the multiplied signal is filtered through a low-pass filter to extract the DC value (1 / 2 KA ∂Te / ∂ β ), which is proportional to ∂Te / ∂ β The signal is then integrated using a PI controller or pure integral controller to obtain the current angle g that needs to be compensated. delta .

[0097] like Figure 2 and Figure 5The embodiment of the present invention further discloses an MTPA controller, including a signal acquisition unit 111, a data processing unit 222, a filtering and compensation unit 333, and an adjustment and output unit 444.

[0098] The signal acquisition unit 111 acquires the control parameters of the motor; the control parameters include parameters that are preset or acquired through real-time measurement; and the control parameters also include first calibration data 101 acquired according to the required torque.

[0099] The data processing unit 222 collects the first set of control signals and performs a first decoupling process; wherein the first set of control signals includes phase current signals, and the first decoupling process obtains the first control quantity 103 and the second control quantity 105 corresponding to the first set of control signals through information transformation.

[0100] Furthermore, the data processing unit 222 collects a second set of control signals and performs a second decoupling process: wherein the second set of control signals includes voltage signals, and the second decoupling process obtains a third control variable and a fourth control variable corresponding to the second set of control signals through information transformation.

[0101] The filtering and compensating unit 333 calculates a first compensation angle 201 that matches the current rotation speed; wherein the first compensation angle 201 is obtained by calculating through a virtual signal injection method.

[0102] The adjustment output unit 444 obtains the first given parameter 401 and solves the second given parameter 402 corresponding to the first given parameter 401 ; wherein the acquisition of the first given parameter 401 depends on the first compensation angle 201 , the first calibration data 101 and the second calibration parameter 402 .

[0103] The adjustment output unit 444 compares the first given parameter 401 and the second given parameter 402 with the difference between the measured value, and adjusts the driving module of the motor using a pulse width modulation method to obtain the torque output at a preset first working point.

[0104] Specifically, if Figure 2 and Figure 3 The second input of the virtual signal injection method includes the dq axis voltages udm, uqm, the currents idm, iqm and the current speed ωr; the first compensation angle 201 is obtained by integrating the second input by the maximum torque current ratio control module.

[0105] Among them, according to the d-axis current id_Tab and the given q-axis current iq_des obtained by table lookup, the current angle gTab corresponding to the table lookup method is calculated, and the current angle gdelta that needs to be compensated calculated based on the virtual signal injection method is added to obtain the given current angle gdes. According to the given d-axis current id_des and the given q-axis current iq_des, the given current amplitude is_des is calculated. The given d-axis current id_des is calculated using the given current amplitude is_des and the given current angle des.

[0106] Furthermore, the given dq axis currents id_des and iq_des are compared with the actual fed-back dq axis currents idm and iqm to obtain the dq axis current difference eid and eiq. The PT controller is used to calculate the given dq axis voltages ud_des and uq_des based on the dq axis current difference eid and eiq. The given dq axis voltages are input into the SVPWM control module to obtain switching signals, and the inverter is controlled to achieve MTPA control.

[0107] Accordingly, the above methods and devices can be integrated into a motor control chip or applied to an electric vehicle. When the above chip or vehicle is working or running, any method disclosed in the method embodiments of the present invention can be implemented.

[0108] It should be noted that the above embodiments are only for the purpose of more clearly illustrating the technical solutions of the present invention. Those skilled in the art will understand that the implementation methods of the present invention are not limited to the above contents, and obvious changes, replacements or substitutions based on the above contents do not exceed the scope covered by the technical solutions of the present invention; other implementation methods will also fall within the scope of the present invention without departing from the concept of the present invention.

Claims

1. A motor control method, characterized in that: include: Acquiring control parameters of the motor; the control parameters include preset parameters or parameters obtained by real-time measurement; the control parameters also include first calibration data (101) obtained according to the required torque; Collecting a first group of control signals and performing a first decoupling process; wherein the first group of control signals includes phase current signals, and the first decoupling process obtains a first control quantity (103) and a second control quantity (105) corresponding to the first group of control signals through information transformation; collecting a second set of control signals and performing a second decoupling process, wherein the second set of control signals includes voltage signals, and the second decoupling process obtains a third control variable and a fourth control variable corresponding to the second set of control signals through information transformation; Calculating a first compensation angle (201) that matches the current rotation speed; wherein the first compensation angle (201) is obtained by calculating using a virtual signal injection method; Obtaining a first given parameter (401) and solving a second given parameter (402) corresponding to the first given parameter (401); wherein the acquisition of the first given parameter (401) depends on the first compensation angle (201), the first calibration data (101) and the second given parameter (402); The first given parameter (401) and the second given parameter (402) are compared with their respective actual measured values, and a drive module of the motor is adjusted using a pulse width modulation method to achieve torque output at the current first working point.

2. The control method according to claim 1, wherein: The first calibration data (101) is obtained offline; The first calibration data (101) includes an MTPA curve of the motor; The MTPA curve is stored in a computer-readable storage unit in a table format.

3. The control method according to claim 2, wherein: The first calibration data (101) includes first calibration current data; the first calibration current data is the d-axis current id_Tab obtained by table lookup; the first decoupling process includes Clark transformation and / or Park transformation; the phase current obtains dq-axis currents idm, iqm after the first decoupling process.

4. The control method according to claim 2, wherein: The MTPA curve is calibrated at a preset first temperature, where the first temperature is selected according to the motor's working condition big data according to a preset statistic or according to the preset working condition of the controlled motor; The first operating point is the maximum torque current ratio MTPA point of the motor.

5. The control method according to any one of claims 1 to 3, wherein: The third control quantity and the fourth control quantity are respectively the dq axis voltage udm, uqm of the motor; the dq axis voltage udm, uqm is obtained by Park transformation of the phase voltage of the motor; the phase voltage is obtained by processing the output duty cycle of each phase obtained in the SVPWM module and the bus voltage udc obtained by the bus voltage sensor.

6. The control method according to claim 5, wherein: The second input quantity of the virtual signal injection method includes the dq axis voltages udm, uqm, the currents idm, iqm and the current speed ωr; The first compensation angle (201) is obtained by integrating the second input quantity with the maximum torque current ratio control module.

7. The control method according to claim 6, wherein: Calculate the current given q-axis current iq_des based on the current required torque, flux linkage Ψf, d-q axis inductance difference Ld-Lq, and given d-axis current id_des; Based on the d-axis current id_Tab and the given q-axis current iq_des obtained by table lookup, the current angle gTab corresponding to the table lookup method is calculated, and the current angle gdelta that needs to be compensated calculated based on the virtual signal injection method is added to obtain the given current angle gdes. Based on the given d-axis current id_des and the given q-axis current iq_des, the given current amplitude is_des is calculated. The given d-axis current id_des is calculated using the given current amplitude is_des and the given current angle des. Compare the given dq axis current id_des, iq_des with the actual feedback dq axis current idm, iqm to obtain the dq axis current difference eid, eiq. Use the PT controller to calculate the given dq axis voltage ud_des, uq_des based on the dq axis current difference eid, eiq. Input the given dq axis voltage into the SVPWM control module to obtain the switching signal to control the inverter and MTPA control.

8. The control method according to any one of claims 6 or 7, wherein: The first compensation angle (201) is obtained by processing a maximum torque current ratio control module VI-MTPA injected by a virtual signal; The VI-MTPA processing includes: obtaining a first compensation parameter vector (301) and filtering the dq axis voltages udm, uqm, the currents idm, iqm and the speed ωr through a low-pass filter to obtain filtered dq axis voltages ud, uq, the currents id, iq and the current speed ωm; The current amplitude Im and current phase angle β are calculated from the filtered dq axis currents id and iq; a high-frequency signal Δβ is injected into the current phase angle β, and the dq axis currents ihd and ihq containing high-frequency components are calculated using the current amplitude Im and the current phase angle β+Δβ containing the high-frequency signal; The first compensation angle (201) is obtained by digital filtering; wherein the motor corresponding to the control method operates in a base speed region; the motor comprises a three-phase embedded permanent magnet synchronous motor 3P-IPMSM.

9. An MTPA controller, comprising: A signal acquisition unit (111), a data processing unit (222), a filtering compensation unit (333) and an adjustment output unit (444); wherein the signal acquisition unit (111) acquires control parameters of the motor; the control parameters include parameters that are preset or obtained by real-time measurement; the control parameters also include first calibration data (101) obtained according to the required torque; The data processing unit (222) collects a first group of control signals and performs a first decoupling process; wherein the first group of control signals includes phase current signals, and the first decoupling process obtains a first control quantity (103) and a second control quantity (105) corresponding to the first group of control signals through information transformation; The data processing unit (222) collects a second group of control signals and performs a second decoupling process: wherein the second group of control signals includes a voltage signal, and the second decoupling process obtains a third control quantity and a fourth control quantity corresponding to the second group of control signals through information transformation; The filtering compensation unit (333) calculates a first compensation angle (201) that matches the current rotation speed; wherein the first compensation angle (201) is obtained by calculating using a virtual signal injection method; The adjustment output unit (444) obtains a first given parameter (401) and solves a second given parameter (402) corresponding to the first given parameter (401); wherein the acquisition of the first given parameter (401) depends on the first compensation angle (201), the first calibration data (101) and the second given parameter (402); The regulating output unit (444) compares the first given parameter (401) and the second given parameter (402) with the measured value difference, and uses a pulse width modulation method to adjust the driving module of the motor to obtain the torque output at a preset first working point.

10. The controller of claim 9, wherein: The second input quantity of the virtual signal injection method includes the dq axis voltages udm, uqm, the currents idm, iqm and the current speed ωr; the first compensation angle (201) is obtained by integrating the second input quantity with the maximum torque current ratio control module; Based on the d-axis current id_Tab and the given q-axis current iq_des obtained by table lookup, the current angle gTab corresponding to the table lookup method is calculated, and the current angle gdelta that needs to be compensated calculated based on the virtual signal injection method is added to obtain the given current angle gdes. Based on the given d-axis current id_des and the given q-axis current iq_des, the given current amplitude is_des is calculated. The given d-axis current id_des is calculated using the given current amplitude is_des and the given current angle des. Compare the given dq axis current id_des, iq_des with the actual feedback dq axis current idm, iqm to obtain the dq axis current difference eid, eiq. Use the PT controller to calculate the given dq axis voltage ud_des, uq_des based on the dq axis current difference eid, eiq. Input the given dq axis voltage into the SVPWM control module to obtain the switching signal to control the inverter and MTPA control.

11. A motor control chip, comprising: A storage medium for storing computer programs; When the computer program is executed by a microprocessor, the computer program implements the method according to any one of claims 1 to 8.

12. An electric vehicle comprising: The controller according to any one of claims 9 or 10; And / or the chip as claimed in claim 11.

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